A six-axis linkage visual inspection instrument based on horizontal guide rails

Abstract

The present invention discloses a six-axis linkage visual inspection instrument based on a horizontal guide rail, comprising a first base plate, a second base plate and a third base plate placed on three sides, and an A series group, a B series group and a C series group fixedly placed on the first base plate, the second base plate and the third base plate, a visual inspection instrument is arranged between the A series group, the B series group and the C series group, a turntable assembly is arranged in the third base plate, the A series group comprises a bracket, a movable slide groove opening outward is arranged in the bracket, a front and rear movable motor is fixedly arranged in the rear inner wall of the movable slide groove, a front end power of the front and rear movable motor is connected to a movable screw, a guide slide rod is fixedly connected between the front and rear inner walls of the movable slide groove, and this example aims to design a six-axis linkage part appearance visual inspection instrument based on a horizontal guide rail to replace manual scanning and recording of part surfaces.

Description

Technical Field

[0001] The invention relates to the field of stereoscopic vision inspection instruments, in particular to a six-axis linkage vision inspection instrument based on a horizontal guide rail. Background Art

[0002] With the development of industrialization, the parts processing methods are constantly being innovated, such as 3D printing, powder metallurgy, etc. These processing methods can be used to process workpieces with more complex shapes. For example, in batch processing, the operator only needs to input the shape information of the workpiece to be processed into the PC, and the PC can control the 3D printer to print out the parts to be processed. For workpieces with complex shapes, when the basic parameters are unknown, it is difficult for the operator to obtain the basic shape information of the workpiece by measuring the ruler alone. Therefore, it is necessary to use a visual inspection instrument to scan and inspect the workpiece surface, obtain its basic parameters, and rebuild the model on the PC.

[0003] In the past, when performing this operation, the operator used a handheld scanner to scan and record the surface of the workpiece. However, during the movement, it was difficult to complete the preset scanning route due to human errors, so accurate information could not be obtained. Therefore, this example aims to design a six-axis linkage part shape visual inspection instrument based on a horizontal guide rail to replace manual scanning and recording of the part surface. Summary of the invention

[0004] In order to solve the above problems, this example designs a six-axis linkage visual inspection instrument based on a horizontal guide rail, including a first bottom plate, a second bottom plate and a third bottom plate placed on three sides, and an A series group, a B series group and a C series group fixedly placed on the first bottom plate, the second bottom plate and the third bottom plate, a visual inspection instrument is arranged between the A series group, the B series group and the C series group, and a turntable assembly is arranged inside the third bottom plate;

[0005] The driving mechanism that the cam is in the forward position, and the driving mechanism that the cam is in the forward position is that the cam is in the forward position, and the driving mechanism that the cam is in the forward position is that the cam is in the forward position, and the driving mechanism that the cam is in the forward position is that the cam is in the forward position

[0006] A base block is provided between the A series group, the B series group and the C series group, a first protrusion is fixedly provided on the front end surface of the base block, a first sleeve is rotatably sleeved outside the first protrusion, the first sleeve is fixedly connected to the upper end of the second connecting rod on the A series group, a second protrusion is fixedly provided on the upper end surface of the base block, a second sleeve is rotatably sleeved outside the second protrusion, the second connecting rod arranged on the B series group is fixedly connected to the second sleeve, a third protrusion is fixedly connected to the left end surface of the base block, a third sleeve is rotatably sleeved outside the third protrusion, and the third sleeve is fixedly connected to the second connecting rod arranged on the C series group;

[0007] A bias motor is fixedly installed in the base block, and the right end of the bias motor is connected to a turntable by power. A visual inspection instrument is arranged on the turntable. The base block can be driven to move in six degrees of freedom through the A series group, the B series group and the C series group, thereby driving the visual inspection instrument to move in six degrees of freedom and scanning and recording the surface of the workpiece, so as to establish a basic model for later 3D printing and mechanical processing.

[0008] Preferably, the visual inspection instrument includes a fixed rod fixedly arranged on the upper end face of the turntable, a shape scanner is fixedly arranged on the right arc surface of the fixed rod, and the shape scanner can scan and record the surface shape of the workpiece, an opening groove opening outward is arranged on the lower side of the fixed rod and located in the turntable, an accommodating groove opening outward is arranged in a continuous manner on the upper inner wall of the opening groove, an offset rotating groove is arranged in a continuous manner on the left inner wall of the opening groove, a rack is fixedly arranged on the left inner wall of the opening groove, and an offset motor is fixedly arranged on the front inner wall of the opening groove;

[0009] An offset slider is slidably disposed in the second sleeve, a surface visual detector is fixedly connected to the lower end of the offset slider, a surface visual detector is fixedly disposed on the right arc surface of the surface visual detector, and the surface visual detector can scan and record characteristics such as the surface roughness of the bus, the offset slider is cut into upper and lower parts by a cavity, and the upper and lower parts are connected by a connecting rod, a threaded block is rotatably disposed in the cavity, and the rear end power of the offset motor is connected to an offset screw threadedly connected to the threaded block;

[0010] Ultrasonic rangefinders are fixedly arranged on the front and rear sides of the surface vision detector and the shape scanner and are respectively located on the arc-shaped end faces on the right sides of the fixed rod and the offset rotating rod. The ultrasonic rangefinders are used to detect the distance between the fixed rod and the offset rotating rod and the workpiece.

[0011] Preferably, the curvature of the offset rotating rod is equal to the curvature of the fixed rod, and the offset rotating rod and the fixed rod are symmetrical about the axis of the offset lead screw, so that the offset rotating rod can be flush with the fixed rod after being flipped.

[0012] Preferably, the workpiece surface information and workpiece shape obtained by scanning the workpiece surface by the surface vision detector and the fixing rod can be transmitted to the PC end, and modeling is performed on the PC end to obtain a three-dimensional model diagram of the workpiece.

[0013] Preferably, when the offset slider moves downward to the maximum extent in the open groove, the offset slider flips one hundred and eighty degrees through engagement with the rack, and during the rotation, the connecting rod connecting the left and right parts of the offset slider bypasses the lower end of the offset screw.

[0014] Preferably, a circular rotating block extending into the circular block is fixedly provided on the second hinge support, and the circular rotating block is rotatably connected to the circular block, and the circular rotating block is used to strengthen the connection strength between the second hinge support and the circular block.

[0015] Preferably, the turntable assembly includes a turntable cavity arranged in the third base plate and opening upward, a turntable is rotatably arranged in the turntable cavity, a turntable drive motor is fixedly arranged in the lower inner wall of the turntable cavity, and the upper end of the turntable drive motor is poweredly connected to a turntable drive gear meshing with the turntable, and the turntable can be driven to rotate by the drive of the turntable drive motor, thereby driving the workpiece placed on the upper side of the turntable to rotate.

[0016] The beneficial effects of the present invention are as follows: the device can scan the information on the surface of the workpiece through the surface vision detector and the first sleeve. During the scanning process, the device moves according to a preset route, which is more stable than manual information extraction. In addition, the device can switch to different scanning modes according to different positions of the workpiece to cope with different situations, which is convenient and effective. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] For ease of explanation, the present invention is described in detail with reference to the following specific embodiments and accompanying drawings.

[0018] Figure 1 It is a schematic diagram of the overall structure of a six-axis linkage visual inspection instrument based on a horizontal guide rail of the present invention;

[0019] Figure 2 for Figure 1 Send some structural diagrams;

[0020] Figure 3 for Figure 2 Schematic diagram of the structure in the “DD” direction;

[0021] Figure 4 It is a diagram showing the positions of the offset groove and the open groove;

[0022] Figure 5 The figure shows the positions of the connecting rod, rack and offset screw;

[0023] Figure 6 It is a schematic diagram of the connection between the rotation drive motor and the second hinge support;

[0024] Figure 7 It is a position diagram of the A series group, the B series group and the C series group;

[0025] Figure 8 It is a schematic diagram of the structure of the turntable assembly. DETAILED DESCRIPTION

[0026] Combine the following Figures 1 to 8 The present invention is described in detail. For the convenience of description, the directions mentioned below are defined as follows: the up, down, left, right, front and back directions mentioned below are Figure 1 The up-down, left-right, front-back directions of the projection relationship itself are consistent.

[0027] The present invention relates to a six-axis linkage visual inspection instrument based on a horizontal guide rail, and the present invention will be further described below in conjunction with the accompanying drawings of the present invention:

[0028] The six-axis linkage visual inspection instrument based on horizontal guide rails described in the present invention is as shown in the attached Figure 1 -Attached Figure 8The six-axis linkage visual inspection instrument shown includes a first bottom plate 152, a second bottom plate 151 and a third bottom plate 153 placed on three sides, and an A series group, a B series group and a C series group fixedly placed on the first bottom plate 152, the second bottom plate 151 and the third bottom plate 153, a visual inspection instrument is arranged between the A series group, the B series group and the C series group, and a turntable assembly is arranged inside the third bottom plate 153;

[0029] The A series group includes a bracket 101, a movable slide groove 105 with an opening facing outward is arranged in the bracket 101, a forward and backward moving motor is fixedly arranged in the rear inner wall of the movable slide groove 105, and the front end power of the forward and backward moving motor is connected to a movable lead screw 104 which can rotate in the movable slide groove 105, a guide slide rod 103 is fixedly connected between the front and rear inner walls of the movable slide groove 105, a movable slider 102 is slidably arranged in the movable slide groove 105, the movable slider 102 is threadedly connected to the movable lead screw 104 and slidably connected to the guide slide rod 103, and the movable slider 102 is on the upper right end surface A first hinge support 107 is rotatably provided, a first connecting rod 106 is fixedly connected to the upper end of the first hinge support 107, a round block 108 is fixedly connected to the upper end of the first connecting rod 106, a rotation drive motor 147 is fixedly provided inside the round block 108, a second hinge support 111 connected to the rotation drive motor 147 is rotatably provided outside the round block 108, a second connecting rod 112 is fixedly connected to the second hinge support 111, and the B series group and the C series group are also provided with the bracket 101, the movable slider 102, the second connecting rod 112 and other components that are the same as those on the A series group;

[0030] A base block 113 is provided between the A series group, the B series group and the C series group, a first protrusion 126 is fixedly provided on the front end surface of the base block 113, a first sleeve 125 is rotatably sleeved outside the first protrusion 126, the first sleeve 125 is fixedly connected to the upper end of the second connecting rod 112 on the A series group, a second protrusion 131 is fixedly provided on the upper end surface of the base block 113, a second sleeve 129 is rotatably sleeved outside the second protrusion 131, the second connecting rod 112 provided on the B series group is fixedly connected to the second sleeve 129, a third protrusion 128 is fixedly connected to the left end surface of the base block 113, a third sleeve 127 is rotatably sleeved outside the third protrusion 128, the third sleeve 127 is fixedly connected to the second connecting rod 112 provided on the C series group;

[0031] A bias motor is fixedly installed in the base block 113, and the right end of the bias motor is connected to a turntable 135. A visual inspection instrument is arranged on the turntable 135. The base block 113 can be driven to move in six degrees of freedom through the A series group, the B series group and the C series group, thereby driving the visual inspection instrument to move in six degrees of freedom and scanning and recording the surface of the workpiece, so as to establish a basic model for later 3D printing and mechanical processing.

[0032] Beneficial, by Figure 1 To Attachment Figure 5 It can be seen that the visual inspection instrument includes a fixed rod 124 fixedly arranged on the upper end face of the turntable 135, a shape scanner 123 is fixedly arranged on the right arc surface of the fixed rod 124, and the shape scanner 123 can scan and record the surface shape of the workpiece, an opening groove 139 opening outward is arranged on the lower side of the fixed rod 124 and located in the turntable 135, and an accommodating groove 143 opening outward is arranged in a continuous manner on the upper inner wall of the opening groove 139, and an offset rotating groove 141 is arranged in a continuous manner on the left inner wall of the opening groove 139, a rack 122 is fixedly arranged on the left inner wall of the opening groove 139, and an offset motor 138 is fixedly arranged on the front inner wall of the opening groove 139;

[0033] An offset slider 137 is slidably disposed in the second sleeve 129, and an offset rotating rod 115 is fixedly connected to the lower end of the offset slider 137. A surface visual detector 116 is fixedly disposed on the right arc surface of the surface visual detector 116, and the surface visual detector 116 can scan and record characteristics such as the surface roughness of the bus. The offset slider 137 is cut into two parts, an upper part and an lower part, by a cavity 121, and the upper and lower parts are connected by a connecting rod 145. A threaded block 118 is rotatably disposed in the cavity 121, and the rear end power of the offset motor 138 is connected to an offset lead screw 119 threadedly connected to the threaded block 118;

[0034] The front and rear sides of the surface vision detector 116 and the shape scanner 123 are fixedly provided with ultrasonic rangefinders 136 located on the right arc end faces of the fixed rod 124 and the offset rotating rod 115 respectively. The ultrasonic rangefinder 136 is used to detect the distance between the fixed rod 124 and the offset rotating rod 115 and the workpiece.

[0035] Advantageously, the curvature of the offset rotating rod 115 is equal to the curvature of the fixed rod 124 , and the offset rotating rod 115 and the fixed rod 124 are symmetrical about the axis of the offset lead screw 119 , so that the offset rotating rod 115 can be flush with the fixed rod 124 after being flipped.

[0036] Advantageously, the workpiece surface information and workpiece shape obtained by scanning the workpiece surface by the surface vision detector 116 and the fixing rod 124 can be transmitted to the PC end, and modeling is performed on the PC end to obtain a three-dimensional model diagram of the workpiece.

[0037] Advantageously, when the offset slider 137 moves downward to the maximum extent in the opening groove 139 , the offset slider 137 flips one hundred and eighty degrees by engaging with the rack 122 , and during the rotation, the connecting rod 145 connecting the left and right parts of the offset slider 137 bypasses the lower end of the offset screw 119 .

[0038] Beneficial, by Figure 6 It can be seen that a circular rotating block 149 extending into the circular block 108 is fixedly provided on the second hinge support 111. The circular rotating block 149 is rotatably connected to the circular block 108, and the circular rotating block 149 is used to strengthen the connection strength between the second hinge support 111 and the circular block 108.

[0039] Beneficial, by Figure 7 And attached Figure 8 It can be seen that the turntable assembly includes a turntable cavity 157 which is arranged in the third bottom plate 153 and opens upward, a turntable 154 is rotatably arranged in the turntable cavity 157, a turntable drive motor 155 is fixedly arranged in the lower inner wall of the turntable cavity 157, and the upper end of the turntable drive motor 155 is poweredly connected to a turntable drive gear 156 which is meshed with the turntable 154. The turntable 154 can be driven to rotate by the drive of the turntable drive motor 155, thereby driving the workpiece placed on the upper side of the turntable 154 to rotate.

[0040] In the initial state, the rotation drive motor 147 and the forward and backward moving motor arranged on the A series group, the B series group and the C series group are in a stationary state, the offset slider 137 moves forward to the maximum extent in the opening groove 139, and the offset rotating rod 115 and the fixed rod 124 are in the same plane front and back.

[0041] When in use, the user places the workpiece at a preset position on the upper end surface of the turntable 154. At this time, the device can be driven to operate through a preset program, specifically:

[0042] The program controls the forward and backward moving motor in the A series group to drive the moving slider 102 to move forward and backward, and the rotation drive motor 147 can drive the second connecting rod 112 and the first connecting rod 106 to swing relative to each other. The forward and backward moving motors and the rotation drive motor 147 in the A series group, the B series group and the C series group can drive the base block 113 to move in six degrees of freedom, and make the right side of the fixed rod 124 and the surface vision detector 116 face the workpiece surface and scan it. The fixed rod 124 and the surface vision detector 116 can scan the workpiece surface and model it on the PC end. The bias motor drives the turntable 135 to rotate, and the surface vision detector 116 and the shape scanner 123 can be used to perform cyclic rolling scanning on the workpiece surface.

[0043] When scanning in a small space or near the bottom of the workpiece, the cyclic scanning of the surface vision detector 116 and the shape scanner 123 easily causes the offset rotating rod 115 or the fixed rod 124 to hit the ground, so the following operations are performed:

[0044] The offset motor 138 rotates, thereby driving the thread block 118 to move backward, thereby driving the offset slider 137 and the offset rotating rod 115 to move backward. In this process, due to the meshing connection between the offset slider 137 and the rack 122, the offset slider 137 drives the offset rotating rod 115 to rotate, and when the thread block 118 moves backward to the maximum, the surface vision detector 116 flips over 180 degrees. At this time, the rear end face of the offset slider 137 abuts against the rear inner wall of the opening groove 139. At this time, the offset motor 138 drives the offset lead screw 119 to continue to rotate. When the offset slider 137 is constrained by the movement of the inner wall of the rear side of the opening groove 139, the offset slider 137 rotates in the opening groove 139, and the upper part of the offset slider 137 is turned into the offset rotation groove 141, and drives the offset rotation rod 115 to flip over, turn into the accommodating groove 143, and finally turn to the rear side of the fixed rod 124. At this time, the forward and backward moving motors and the rotating drive motor 147 on the A series group, the B series group and the C series group can drive the shape scanner 123 and the surface vision detector 116 to scan the part of the workpiece close to the bottom.

[0045] Beneficial effects of the present invention: The device can scan the information on the surface of the workpiece through the surface vision detector 116 and the first sleeve 125. During the scanning process, the device moves according to a preset route, which is more stable than manual information extraction. In addition, the device can switch to different scanning modes according to different positions of the workpiece to cope with different situations, which is convenient and effective.

[0046] Through the above methods, those skilled in the art can make various changes according to the working mode within the scope of the present invention.

Claims

1. A six-axis linkage visual inspection instrument based on a horizontal guide rail, comprising a first bottom plate, a second bottom plate and a third bottom plate placed on three sides, and an A series group, a B series group and a C series group fixedly placed on the first bottom plate, the second bottom plate and the third bottom plate, a visual inspection instrument is arranged between the A series group, the B series group and the C series group, and a turntable assembly is arranged inside the third bottom plate; The driving mechanism that the cam is in the forward direction and the driving mechanism can be turned by the cam, and the cam is in the forward direction and the driving mechanism can be turned by the cam, and the cam can be turned by the cam. A base block is provided between the A series group, the B series group and the C series group, a first protrusion is fixedly provided on the front end surface of the base block, a first sleeve is rotatably sleeved outside the first protrusion, the first sleeve is fixedly connected to the upper end of the second connecting rod on the A series group, a second protrusion is fixedly provided on the upper end surface of the base block, a second sleeve is rotatably sleeved outside the second protrusion, the second connecting rod arranged on the B series group is fixedly connected to the second sleeve, a third protrusion is fixedly connected to the left end surface of the base block, a third sleeve is rotatably sleeved outside the third protrusion, and the third sleeve is fixedly connected to the second connecting rod arranged on the C series group; A bias motor is fixedly arranged in the base block, and the right end of the bias motor is connected to a turntable, and a visual inspection instrument is arranged on the turntable. The base block can be driven to move in six degrees of freedom through the A series group, the B series group, and the C series group, thereby driving the visual inspection instrument to move in six degrees of freedom, and scanning and recording the surface of the workpiece, so as to establish a basic model for later 3D printing and mechanical processing; The visual inspection instrument comprises a fixed rod fixedly arranged on the upper end surface of the turntable, a shape scanner is fixedly arranged on the right arc surface of the fixed rod, an opening slot opening outward is arranged on the lower side of the fixed rod and located in the turntable, a receiving slot opening outward is arranged in a continuous manner on the upper inner wall of the opening slot, a biased rotating slot is arranged in a continuous manner on the left inner wall of the opening slot, a rack is fixedly arranged on the left inner wall of the opening slot, and an offset motor is fixedly arranged on the front inner wall of the opening slot; An offset slider is slidably disposed in the second sleeve, a lower end of the offset slider is fixedly connected to an offset rotating rod, a surface visual detector is fixedly disposed on the right arc surface of the offset rotating rod, the offset slider is cut into upper and lower parts by a cavity, and the upper and lower parts are connected by a connecting rod, a threaded block is rotatably disposed in the cavity, and a rear end power of the offset motor is connected to an offset lead screw threadedly connected to the threaded block; Ultrasonic rangefinders are fixedly arranged on the front and rear sides of the surface vision detector and the shape scanner and are respectively located on the right arc-shaped end surfaces of the fixed rod and the offset rotating rod; The curvature of the offset rotating rod is equal to the curvature of the fixed rod, and the offset rotating rod and the fixed rod are symmetrical about the axis of the offset lead screw; When the offset slider moves downward to the maximum extent in the open groove, the offset slider flips 180 degrees through engagement with the rack, and during the rotation, the connecting rod connecting the left and right parts of the offset slider bypasses the lower end of the offset screw.

2. A six-axis linkage visual inspection instrument based on a horizontal guide rail as claimed in claim 1, characterized in that: The surface information and shape of the workpiece obtained by scanning the workpiece surface with the surface vision detector and the fixing rod can be transmitted to the PC end, and modeling is performed on the PC end to obtain a three-dimensional model diagram of the workpiece.

3. The six-axis linkage visual inspection instrument based on a horizontal guide rail as claimed in claim 1, characterized in that: A circular rotating block extending into the circular block is fixedly arranged on the second hinge support, and the circular rotating block is rotatably connected to the circular block.

4. The six-axis linkage visual inspection instrument based on a horizontal guide rail as claimed in claim 1, characterized in that: The turntable assembly includes a turntable cavity which is arranged in the third base plate and opens upward, a turntable is rotatably arranged in the turntable cavity, a turntable drive motor is fixedly arranged in the lower inner wall of the turntable cavity, and the upper end of the turntable drive motor is poweredly connected to a turntable drive gear which is meshed with the turntable.

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