A robot end detection device with vision for internal inspection of chassis

Abstract

The present invention relates to the field of automatic detection technology, and in particular to a robot end detection device with vision for internal detection of a chassis, comprising: a base, a visual recognition mechanism and a probe clamping and retracting mechanism, the visual recognition mechanism comprising a mounting seat, a coarse-shot camera, a fine-shot camera, a coarse-shot light source and a fine-shot light source, and the probe clamping and retracting mechanism comprising a cylinder axial drive assembly, a Z-direction buffer floating assembly, a pressure sensing assembly and a probe clamping and floating assembly connected in sequence. The present invention overcomes the drawbacks of traditional manual detection, has accurate positioning, high efficiency, adjustable position rate and posture flexibility, stable and reliable movement, and easy and fast recording and analysis of inspection results; adopts a modular assembly structure for stable connection, long life, easy maintenance, light weight, and compact space; by configuring a slender probe clamping and retracting assembly and supplemented by visual recognition and posture calibration, it can accurately realize the narrow space detection environment inside the chassis and the diversified detection and inspection needs.

Description

Technical Field

[0001] The invention relates to the field of automatic detection, and in particular to a robot end detection device with vision for detecting the inside of a chassis. Background Art

[0002] There is a wide demand for internal chassis inspection, which is particularly common in the communications, computer, and instrumentation industries. The main inspections include screw locking inspection (whether the screws are missing, installed in place, or twisted), label defect inspection (whether the labels are pasted, aligned, facing the correct direction, or damaged), component assembly inspection (whether components are missing, installed in place, and plug-ins are snapped into place), and plug connector inspection (whether the plug connectors have defects, whether they are connected normally, and whether the electrical performance indicators such as resistance / current / voltage / standing wave ratio / insertion loss / phase are normal). Traditional manual inspections are prone to visual fatigue and are prone to missed inspections and wrong inspections. It is difficult to inspect plug connectors in the small space inside the chassis, especially when there are many inspection items and complicated operations and records. It is even more difficult to inspect plug connectors in the small space inside the chassis, and it is even more powerless for subtle and sophisticated operation inspections. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a robot end-band visual automatic detection device for internal inspection of the chassis, which can adapt to the narrow space in the chassis and effectively detect defects in the chassis, so as to solve at least one of the above technical problems.

[0004] The technical solution of the present invention to solve the above technical problems is as follows:

[0005] A robot end detection device with vision for internal detection of a chassis, comprising:

[0006] A base connected to the end of the robot, wherein the base is provided with a flange adapter column for connecting to the flange of the end of the robot, and the lower end of the flange adapter column is fixedly connected to the base;

[0007] A visual recognition mechanism installed on one side of the base, the visual recognition mechanism includes a mounting base, a coarse-shot camera, a fine-shot camera, a coarse-shot light source corresponding to the coarse-shot camera, and a fine-shot light source corresponding to the fine-shot camera, the lower end of the mounting base is fixedly connected to the side of the base, the coarse-shot camera, the fine-shot camera and the coarse-shot light source are all installed on a side of the mounting base away from the base, and the fine-shot light source is installed at the lower end of the fine-shot camera;

[0008] A probe clamping and retracting mechanism is used to clamp and fix a detection probe, the probe clamping and retracting mechanism includes a cylinder axial drive assembly, a Z-axis buffer floating assembly, a pressure sensing assembly and a probe clamping floating assembly connected in sequence, and the cylinder axial drive assembly is fixedly connected to the base through a cylinder mounting plate.

[0009] The beneficial effects of the present invention are as follows: the present invention uses the robot end-band vision to automatically detect and inspect the inside of the chassis, thus overcoming the drawbacks of traditional manual inspection, with precise positioning, high efficiency, flexible and adjustable position rate and posture, stable and reliable movement, strong adaptability and scalability, and the inspection results are convenient for rapid recording and analysis; the modular assembly structure is combined and connected, with precise and stable coordination, long service life, convenient disassembly and maintenance, light weight and compact space, which ensures structural strength while reducing processing costs; through visual recognition supplemented by posture calibration, relevant defects inside the chassis can be accurately identified, abnormalities inspected, positioned and detection and inspection guidance can be achieved; a slender probe clamping telescopic component is configured to adapt to the narrow space inspection environment inside the chassis and diverse detection and inspection needs, replacing manual labor and improving the automation level of inspection.

[0010] Based on the above technical solution, the present invention can also be improved as follows.

[0011] Furthermore, the cylinder axial drive assembly includes a transmission cylinder, a floating joint, a telescopic spindle, a stop sleeve, a spindle bushing, a linear bearing and a tail connecting piece. The transmission cylinder is fixedly connected to the base through the cylinder mounting plate, and the transmission cylinder is transmission-connected to the telescopic spindle through the floating joint. The upper end of the floating joint is connected to the lower end of the transmission cylinder, and the lower end of the floating joint is connected to the upper end of the telescopic spindle. The stop sleeve is sleeved on the outer side of the top end of the telescopic spindle, and one side of the stop sleeve is fixedly connected to the base. The linear bearing and the spindle bushing are both sleeved outside the telescopic spindle, and the linear bearing is arranged between the spindle bushing and the stop sleeve. The tail connecting piece is fixedly mounted on the lower end of the telescopic spindle, and the lower end of the tail connecting piece is fixedly connected to the top end of the Z-direction buffer floating assembly.

[0012] The beneficial effect of adopting the above further scheme is that the transmission cylinder provided in the cylinder axial drive assembly can provide power for driving the detection probe, and the linear bearing can realize smooth axial telescopic movement of the telescopic main shaft with high precision.

[0013] Furthermore, the transmission cylinder is provided with a speed regulating valve for adjusting the telescopic speed, and a magnetic induction switch for sensing whether the telescopic position is in place.

[0014] The beneficial effect of adopting the above further solution is that the speed regulating valve can adjust the extension and retraction speed, the magnetic induction switch can sense the extension and retraction position, and the extension and retraction of the transmission cylinder can be easily controlled.

[0015] Furthermore, the Z-direction buffer floating assembly includes a floating bushing, a floating Z-axis and a buffer spring, the top end of the floating bushing is fixedly connected to the tail connector, the floating bushing is provided with a guide hole, the top end of the floating Z-axis is slidably connected to the guide hole, the buffer spring is sleeved outside the floating Z-axis, the top end of the buffer spring is fixedly connected to the lower end of the floating bushing, the lower end of the buffer spring is fixedly connected to the lower end of the floating Z-axis, and the lower end of the floating Z-axis is connected to the pressure sensing assembly.

[0016] The beneficial effect of adopting the above further solution is that the buffer spring can play a buffering role on the floating Z axis in the Z direction, and can ensure the relative axial floating displacement of the floating Z axis and the floating bushing.

[0017] Furthermore, the pressure sensing component includes a pressure sensor, an upper plate, a lower plate and a transition piece, the pressure sensor is arranged between the upper plate and the lower plate, the transition piece is arranged between the upper plate and the floating Z-axis, the lower side of the transition piece is fixedly connected to the upper plate, a slot is provided at the lower end of the floating Z-axis, the top of the transition piece is placed in the slot, a locking screw is provided on the side wall of the slot, and the lower plate is fixedly connected to the top of the probe clamping floating assembly.

[0018] The beneficial effect of adopting the above further scheme is that the upper plate and the lower plate can effectively fix the pressure sensor, which is conducive to the pressure sensor to accurately measure pressure information, and can set the pressure warning value and cooperate with the control system to achieve probe retraction protection when the pressure is too high.

[0019] Furthermore, the probe clamping floating assembly includes a probe clamping block, an XY plane floating part and a wire passing column, the top end of the wire passing column is fixedly connected to the lower plate, the lower end of the wire passing column is fixedly connected to the top end of the XY plane floating part, two probe clamping blocks are provided, and the two probe clamping blocks are relatively arranged on the lower side of the XY plane floating part, and locking grooves for locking the probes are provided on the opposite side wall surfaces of the two probe clamping blocks, and a wire passing hole is provided on the side wall of the wire passing column, and one end of the wire passing hole passes through the wire passing column and the XY plane floating part in sequence and then communicates with the locking groove.

[0020] The beneficial effects of adopting the above further solution are: the probe clamp block can clamp and fix the probe, and the XY plane floating member can adapt to the eccentricity of the probe when the probe has a slight eccentricity, thereby improving the adaptability and reliability of the probe in detecting the plugging action.

[0021] Furthermore, a plurality of wire binding grooves are provided on the wall surfaces of the two probe clamping blocks which face away from each other.

[0022] The beneficial effect of adopting the above further solution is that the wire binding groove can facilitate the use of wire binding to fix the two probe clamping blocks, thereby clamping and fixing the probes.

[0023] Furthermore, a parallel calibration component for calibrating the parallelism with a chassis reference plane is provided on the base, and the parallel calibration component includes a parallel calibration column and a calibration profile, the parallel calibration column is vertically arranged to the calibration profile, the lower end of the parallel calibration column is fixedly connected to the middle part of the upper side wall of the calibration profile, the top end of the parallel calibration column is fixedly connected to the lower side wall of the base, and the lower side of the calibration profile is provided with a calibration surface that fits with the chassis reference plane.

[0024] The beneficial effect of adopting the above further scheme is that the parallel calibration component can better calibrate the positional relationship between the visual recognition positioning component and the probe clamping and telescopic component and the chassis under test, thereby realizing more accurate detection and inspection inside the chassis.

[0025] Furthermore, the coarse-shot camera and the fine-shot camera are correspondingly provided with camera position calibration parts. After the lens of the coarse-shot camera or the fine-shot camera is removed, the top end of the camera position calibration rod is coaxially connected to the coarse-shot camera or the fine-shot camera for calibrating the position of the coarse-shot camera or the fine-shot camera.

[0026] The beneficial effect of adopting the above further solution is that the camera position calibration component can calibrate the visual shooting position of the coarse-shooting camera and the fine-shooting camera, and the visual detection is more accurate.

[0027] Furthermore, the precision shooting light source is an annular light source with a lens avoidance hole in the middle, the annular light source is coaxially arranged with the precision shooting camera, and the rough shooting light source is a point light source.

[0028] The beneficial effect of adopting the above further scheme is: the precision shooting light source is set as a ring light source to ensure that the precision shooting camera can have sufficient lighting during visual inspection, and the coarse shooting light source uses a point light source for good focusing effect, and the visual inspection is more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the structure of the present invention;

[0030] Figure 2 It is a schematic diagram of the structural explosion of the probe clamping and telescopic mechanism of the present invention.

[0031] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0032] 1. Base; 11. Flange adapter column;

[0033] 2. Visual recognition mechanism; 21. Mounting seat; 22. Coarse-shot camera; 23. Fine-shot camera; 24. Coarse-shot light source; 25. Fine-shot light source;

[0034] 3. Probe clamping and retracting mechanism; 31. Cylinder axial drive assembly; 32. Z-direction buffer floating assembly; 33. Pressure sensing assembly; 34. Probe clamping and floating assembly; 35. Cylinder mounting plate;

[0035] 311, transmission cylinder; 312, floating joint; 313, anti-rotation sleeve; 314, linear bearing; 315, spindle bushing; 316, telescopic spindle; 317, tail connector; 318, speed regulating valve; 319, magnetic induction switch;

[0036] 321, floating bushing; 322, floating Z axis; 323, buffer spring;

[0037] 331. upper plate; 332. lower plate; 333. pressure sensor; 334. transition piece;

[0038] 341, wire passing column; 342, XY plane floating part; 343, probe clamp block; 344, wire binding groove;

[0039] 4. Parallel calibration assembly; 41. Parallel calibration column; 42. Calibration profile;

[0040] 5. Camera position calibration parts. DETAILED DESCRIPTION

[0041] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0042] Example

[0043] like Figure 1 , 2As shown, this embodiment provides a robot end detection device with vision for internal detection of a chassis, comprising: a base 1 connected to the end of the robot, a flange adapter column 11 for connecting to the flange of the robot end is provided on the base 1, and the lower end of the flange adapter column 11 is fixedly connected to the base 1; a visual recognition mechanism 2 installed on one side of the base 1, the visual recognition mechanism 2 includes a mounting seat 21, a coarse-shot camera 22, a fine-shot camera 23, a coarse-shot light source 24 corresponding to the coarse-shot camera 22, and a fine-shot light source 25 corresponding to the fine-shot camera 23, and a mounting seat The lower end of 21 is fixedly connected to the side of the base 1, the coarse camera 22, the fine camera 23 and the coarse light source 24 are all installed on the side of the mounting base 21 away from the base 1, and the fine light source 25 is installed at the lower end of the fine camera 23; a probe clamping and telescopic mechanism 3 is used to clamp and fix the detection probe, and the probe clamping and telescopic mechanism 3 includes a cylinder axial drive assembly 31, a Z-direction buffer floating assembly 32, a pressure sensing assembly 33 and a probe clamping floating assembly 34 connected in sequence, and the cylinder axial drive assembly 31 is fixedly connected to the base 1 through a cylinder mounting plate 35.

[0044] It should be noted that connecting flanges are fixedly provided at both the upper and lower ends of the flange adapter column 11. The two connecting flanges are fixedly connected to the flange adapter column 11 to form an I-shaped cylinder. A circular groove is provided on the upper side wall of the connecting flange at the top of the flange connecting column. When assembled with the robot end, the flange surface of the robot end fits into the bottom surface of the circular groove, and then the robot end is fixedly connected to the connecting flange at the top of the flange connecting column by through-hole screws. The circular groove is covered on the outside of the robot end, which can achieve reliable connection and limiting. In order to reduce the output of the robot end, the flange connecting column is made into a hollow structure, and weight reduction holes are provided on the base 1 and the mounting seat 21. In order to ensure the stability of the connection of the mounting seat 21 on the base 1, a reinforcing rib is provided between the mounting seat 21 and the base 1. The lower end of the mounting seat 21 is vertically fixedly connected to one side of the base 1, one end of the reinforcing rib is fixedly connected to the mounting seat 21, and the other end of the reinforcing rib is fixedly connected to the upper side wall of the base 1.

[0045] It should also be noted that the coarse camera 22 and the fine camera 23 are installed in parallel on the mounting base 21, and mounting parts are provided on the mounting base 21 corresponding to the coarse camera 22 and the fine camera 23, and a plurality of mounting holes are vertically provided on the mounting parts. The coarse camera 22 and the fine camera 23 are fixed to the mounting parts by screws, and a coarse lens is provided at the lower end of the coarse camera 22, and a fine lens is provided at the lower end of the fine camera 23; the coarse camera 22 is preferably an industrial area array camera, and a coarse lens with zoom is selected according to the working distance and field of view. After the coarse camera 22 collects the image inside the chassis, it cooperates with contour recognition, grayscale recognition, and deep learning visual algorithms to realize the preliminary position and contour of materials such as screws / labels / components / plug connectors inside the chassis. Identification and positioning, as well as more obvious feature anomalies and defect inspections, make preliminary positioning for areas that require precise identification and inspection, and guide the robot end to the specified position after association with the robot and calibration. The precision camera 23 is preferably a high-resolution industrial area array camera, which is equipped with a telecentric precision lens of appropriate accuracy according to the working distance and field of view. After the precision camera 23 collects the image inside the chassis, it cooperates with visual algorithms such as contour recognition, grayscale recognition, deep learning, image and morphological processing to achieve precise identification and positioning of the position and contour of materials such as screws / labels / components / connectors inside the chassis, as well as more detailed feature anomalies and defect inspections. By associating with the robot for calibration, the robot end and the end probe are guided to accurately reach the specified position.

[0046] Preferably, the cylinder axial drive assembly 31 includes a transmission cylinder 311, a floating joint 312, a telescopic spindle 316, a rotation-stopping sleeve 313, a spindle bushing 315, a linear bearing 314 and a tail connector 317. The transmission cylinder 311 is fixedly connected to the base 1 through a cylinder mounting plate 35. The transmission cylinder 311 is transmission-connected to the telescopic spindle 316 through a floating joint 312. The upper end of the floating joint 312 is connected to the lower end of the transmission cylinder 311. The lower end of the floating joint 312 is connected to the telescopic spindle 316. The upper end of the main shaft 316 is connected, the anti-rotation sleeve 313 is installed on the outer side of the top end of the telescopic main shaft 316, one side of the anti-rotation sleeve 313 is fixedly connected to the base 1, the linear bearing 314 and the main shaft bushing 315 are both installed on the outside of the telescopic main shaft 316, the linear bearing 314 is arranged between the main shaft bushing 315 and the anti-rotation sleeve 313, the tail connecting piece 317 is fixedly installed on the lower end of the telescopic main shaft 316, and the lower end of the tail connecting piece 317 is fixedly connected to the top of the Z-direction buffer floating assembly 32.

[0047] It should be noted that the floating joint 312 is a pneumatic component, which ensures that the transmission cylinder 311 and the telescopic main shaft 316 can smoothly realize the telescopic function even when there is a slight eccentricity or deflection. The telescopic main shaft 316 is a slender mold steel shaft that has been heat-treated to improve wear resistance. The top of the telescopic main shaft 316 is fixedly connected to the lower end of the floating joint 312 by a screw. It can be understood that the telescopic main shaft 316 can realize the telescopic effect under the action of the cylinder. Since one side of the anti-rotation pressure sleeve 313 is fixedly connected to the base 1, the telescopic main shaft 316 can slide along the axial direction of the anti-rotation pressure sleeve 313. In order to avoid the telescopic main shaft 316 relative to the anti-rotation pressure sleeve The sleeve 313 rotates, and a stop-rotation flattening hole is provided in the anti-rotation pressure sleeve 313. The top of the telescopic main shaft 316 is set as a flat structure that cooperates with the stop-rotation flattening hole; the linear bearing 314 is set between the anti-rotation pressure sleeve 313 and the main shaft bushing 315, and the main shaft bushing 315 is provided with a bearing hole. The linear bearing 314 is set in the bearing hole. The lower end of the telescopic main shaft 316 passes through the anti-rotation pressure sleeve 313 and the linear bearing 314 in sequence and then extends out from the lower end of the main shaft bushing 315. The top of the main shaft bushing 315 is fixedly connected to the base 1; the side of the tail connecting piece 317 is provided with a wire binding hole for fixing the probe cable and the pressure sensor 333 cable.

[0048] Preferably, the transmission cylinder 311 is provided with a speed regulating valve 318 for adjusting the telescopic speed, and a magnetic induction switch 319 for sensing whether the telescopic position is in place.

[0049] Preferably, the Z-direction buffer floating assembly 32 includes a floating bushing 321, a floating Z-axis 322 and a buffer spring 323. The top end of the floating bushing 321 is fixedly connected to the tail connector 317. The floating bushing 321 is provided with a guide hole. The top end of the floating Z-axis 322 is slidably connected to the guide hole. The buffer spring 323 is sleeved on the outside of the floating Z-axis 322. The top end of the buffer spring 323 is connected to the lower end of the floating bushing 321. The lower end of the buffer spring 323 is connected to the lower part of the floating Z-axis 322. The lower end of the floating Z-axis 322 is connected to the pressure sensing assembly 33.

[0050] It should be noted that, in order to prevent the floating bushing 321 from rotating relative to the floating Z-axis 322, a stop hole is provided on the side wall of the floating bushing 321, and a stop pin is provided in the stop hole, or the top end of the floating Z-axis 322 is provided as a prism that slides with the guide hole, and the floating bushing 321 is sleeved on the outer side of the top end of the floating Z-axis 322, and the floating Z-axis 322 slides vertically with the guide hole of the floating bushing 321; a screw hole is provided on the top end face of the floating Z-axis 322, and a screw is inserted into the screw hole so that the floating Z-axis 322 and the floating bushing 321 slide in a closed loop; the buffer spring 323 is sleeved between the floating Z bushing and the floating Z-axis 322, and when a probe is inserted into the inside of the chassis for detection, the buffer spring 323 is gradually compressed, and the compression force is finally transmitted to the end of the probe, which can ensure that the insertion of the probe into the chassis is smooth and reliable. Of course, by setting different insertion heights, different compression amounts of the buffer spring 323 can be generated, and the buffer spring 323 can play a flexible adjustment of the insertion force.

[0051] Preferably, the pressure sensing assembly 33 includes a pressure sensor 333, an upper plate 331, a lower plate 332 and a transition piece 334. The pressure sensor 333 is arranged between the upper plate 331 and the lower plate 332. The transition piece 334 is arranged between the upper plate 331 and the floating Z-axis 322. The lower side of the transition piece 334 is fixedly connected to the upper plate 331. A slot is provided at the lower end of the floating Z-axis 322. The top of the transition piece 334 is placed in the slot. A locking screw is provided on the side wall of the slot. The lower plate 332 is fixedly connected to the top of the probe clamping floating assembly 34.

[0052] It should be noted that the pressure sensor 333 is preferably a miniature cylindrical button-type precision pressure sensor 333, which can sense the pressure when the probe is plugged in in real time, and can cooperate with the robot control system to achieve retraction protection of the probe when the pressure is too high by setting a pressure warning value. The upper side of the pressure sensor 333 is the base end, which is connected to the upper plate 331 by screws, and the lower side of the pressure sensor 333 is the deformation sensing end, which is fixedly connected to the lower plate 332 by screws.

[0053] Preferably, the probe clamping floating assembly 34 includes a probe clamping block 343, an XY plane floating part 342 and a wire passing column 341, the top of the wire passing column 341 is fixedly connected to the lower plate 332, the lower end of the wire passing column 341 is fixedly connected to the top of the XY plane floating part 342, two probe clamping blocks 343 are provided, and the two probe clamping blocks 343 are relatively arranged on the lower side of the XY plane floating part 342, and the opposite side walls of the two probe clamping blocks 343 are provided with contoured locking grooves for locking the probes, and a wire passing hole is provided on the side wall of the wire passing column 341, and one end of the wire passing hole passes through the wire passing column 341 and the XY plane floating part 342 in sequence and then communicates with the locking groove.

[0054] Preferably, the two probe clamps 343 are semi-conical, and the locking grooves on the opposite side walls of the two probe clamps 343 are semi-cylindrical. The two locking grooves can be enclosed to form a cylindrical profiling hole for fixing the probe. The wire-passing column 341 and the XY plane floating member 342 are both arranged to be hollow inside. The wire-passing hole is connected to the inside of the wire-passing column 341. After the probe extends into the wire-passing column 341 through the wire hole, it passes through the XY plane floating member 342 and is clamped and fixed by the two probe clamps 343. The top end of the XY plane floating member 342 is fixed to the lower end of the wire-passing column 341. Fixed connection, two semi-conical probe clamps 343 are formed into a truncated cone and fixedly connected to the lower end of the XY plane floating part 342. The XY plane floating part 342 is provided with sliding blocks and reset springs in the X-axis and Y-axis directions. When the probe passes through the XY plane floating part 342 and there is a slight eccentricity, the reset spring can push the sliding block in the opposite direction of the corresponding eccentricity to perform floating reset. At this time, in conjunction with the guide angle between the probe and the docking plug, auxiliary correction of the probe plugging position can be achieved, thereby improving the adaptability and reliability of the plugging action.

[0055] Preferably, a plurality of wire binding grooves 344 are provided on the wall surfaces on the side opposite to each other of the two probe clamps 343, and the plurality of wire binding grooves 344 are arranged at intervals along the length direction of the probe clamps 343. The corresponding wire binding grooves 344 on the two probe clamps 343 can be closed into a ring, and steel binding wires are embedded to tighten the two probe clamps to clamp and fix the probes.

[0056] Preferably, a parallel calibration component 4 for calibrating the parallelism with a chassis reference plane is provided on the base 1, and the parallel calibration component 4 includes a parallel calibration column 41 and a calibration profile 42, the parallel calibration column 41 and the calibration profile 42 are vertically arranged, the lower end of the parallel calibration column 41 is fixedly connected to the middle of the upper side wall of the calibration profile 42, the top end of the parallel calibration column 41 is fixedly connected to the lower side wall of the base 1, and the lower side of the calibration profile 42 is provided with a calibration surface that fits the chassis reference plane.

[0057] It should be noted that the upper and lower ends of the parallel calibration column 41 are finely processed to be parallel to each other, a calibration installation position is provided on the lower side wall of the base 1 corresponding to the parallel calibration column 41, the upper and lower surfaces of the calibration profile 42 are finely ground to be parallel to each other, the lower side wall of the calibration profile 42 is set as a calibration surface that fits the reference surface of the chassis, and the lower end of the parallel calibration column 41 is vertically fixedly connected to the middle part of the calibration profile 42. During parallel calibration, the robot movement drives the calibration surface of the calibration profile 42 to be close to the reference surface of the chassis, and then the parallelism of the bottom surface of the base 1 and the reference surface of the chassis is adjusted by a feeler gauge, thereby better ensuring the positional relationship between the visual recognition mechanism 2 and the probe clamping and telescopic mechanism 3 and the reference surface of the chassis.

[0058] Preferably, the coarse camera 22 and the fine camera 23 are correspondingly provided with a camera position calibration component 5. After the lens of the coarse camera 22 or the fine camera 23 is removed, the top of the camera position calibration component 5 is coaxially connected to the coarse camera 22 or the fine camera 23 for calibrating the position of the coarse camera 22 or the fine camera 23.

[0059] It should be noted that the coarse camera 22 is threadedly connected to the coarse lens, and the fine camera 23 is threadedly connected to the fine lens. The top of the camera position calibration component 5 is provided with a threaded column threadedly connected to the coarse camera 22 or the fine camera 23. The camera position calibration component 5 is in the shape of an elongated column with a needle tip at the lower end. When calibrating the camera position, the lens is removed and the camera position calibration component 5 is installed. The robot drives the needle tip at the lower end of the camera position calibration component 5 to move, thereby calibrating the positions of the coarse camera 22 and the fine camera 23.

[0060] Preferably, the precision shooting light source 25 is an annular light source with a lens avoidance hole in the middle, the annular light source is coaxially arranged with the precision shooting camera 23, and the rough shooting light source 24 is a point light source.

[0061] It should be noted that horizontal mounting strip holes and vertical mounting strip holes are provided on the mounting base 21 for adjusting the installation position of the coarse-shot light source 24. The coarse-shot light source 24 is fixed to the mounting base 21 by a position adjustment screw. At the same time, in order to ensure the irradiation angle of the coarse-shot light source 24, when the position adjustment screw is locked, the coarse-shot light source 24 is first adjusted to a preset angle, and then the screw is adjusted in the locking position.

[0062] In the description of the present invention, it is necessary to understand that the terms "center", "length", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "inside", "outside", "peripheral", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred system or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0063] In the description of the present invention, “plurality” means at least two, for example, two, three, etc., unless otherwise clearly and specifically defined.

[0064] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0065] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0066] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot end detection device with vision for internal inspection of a chassis, characterized in that: include: A base (1) connected to the end of the robot, wherein the base (1) is provided with a flange adapter column (11) for connecting to the flange of the end of the robot, the upper and lower ends of the flange adapter column (11) are fixedly provided with connecting flanges, the two connecting flanges are fixedly connected to the flange adapter column (11) to form an I-shaped cylindrical shape, the upper side wall surface of the connecting flange at the top of the flange adapter column (11) is provided with a circular groove, and the lower end of the flange adapter column (11) is fixedly connected to the base (1); A visual recognition mechanism (2) is mounted on one side of the base (1), the visual recognition mechanism (2) comprising a mounting seat (21), a coarse-shot camera (22), a fine-shot camera (23), a coarse-shot light source (24) arranged corresponding to the coarse-shot camera (22), and a fine-shot light source (25) arranged corresponding to the fine-shot camera (23), the lower end of the mounting seat (21) is fixedly connected to the side of the base (1), the coarse-shot camera (22), the fine-shot camera (23), and the coarse-shot light source (24) are all mounted on a side of the mounting seat (21) away from the base (1), and the fine-shot light source (25) is mounted on the lower end of the fine-shot camera (23); A probe clamping and telescopic mechanism (3) for clamping and fixing a detection probe, the probe clamping and telescopic mechanism (3) comprising a cylinder axial drive assembly (31), a Z-direction buffer floating assembly (32), a pressure sensing assembly (33) and a probe clamping floating assembly (34) connected in sequence, the cylinder axial drive assembly (31) being fixedly connected to the base (1) via a cylinder mounting plate (35).

2. The end detection device of a robot with vision for internal inspection of a chassis according to claim 1, characterized in that: The cylinder axial drive assembly (31) comprises a transmission cylinder (311), a floating joint (312), a telescopic main shaft (316), a rotation-stopping sleeve (313), a main shaft bushing (315), a linear bearing (314) and a tail connecting piece (317); the transmission cylinder (311) is fixedly connected to the base (1) via the cylinder mounting plate (35); the transmission cylinder (311) is transmission-connected to the telescopic main shaft (316) via the floating joint (312); the upper end of the floating joint (312) is connected to the lower end of the transmission cylinder (311); the lower end of the floating joint (312) is connected to the telescopic main shaft (316); The telescopic main shaft (316) is connected to the upper end thereof, the anti-rotation sleeve (313) is sleeved on the outer side of the top end of the telescopic main shaft (316), one side of the anti-rotation sleeve (313) is fixedly connected to the base (1), the linear bearing (314) and the main shaft bushing (315) are both sleeved on the outside of the telescopic main shaft (316), the linear bearing (314) is arranged between the main shaft bushing (315) and the anti-rotation sleeve (313), the tail connecting piece (317) is fixedly mounted on the lower end of the telescopic main shaft (316), and the lower end of the tail connecting piece (317) is fixedly connected to the top end of the Z-direction buffer floating assembly (32).

3. The end detection device of a robot with vision for internal inspection of a chassis according to claim 2, characterized in that: The transmission cylinder (311) is provided with a speed regulating valve (318) for adjusting the telescopic speed, and a magnetic induction switch (319) for sensing whether the telescopic position is in place.

4. The end detection device of a robot with vision for internal inspection of a chassis according to claim 2, characterized in that: The Z-direction buffer floating component (32) includes a floating bushing (321), a floating Z axis (322) and a buffer spring (323), the top end of the floating bushing (321) is fixedly connected to the tail connector (317), the floating bushing (321) is provided with a guide hole, the top end of the floating Z axis (322) is slidably connected to the guide hole, the buffer spring (323) is sleeved outside the floating Z axis (322), the top end of the buffer spring (323) is connected to the lower end of the floating bushing (321), the lower end of the buffer spring (323) is connected to the lower end of the floating Z axis (322), and the lower end of the floating Z axis (322) is connected to the pressure sensing component (33).

5. The end detection device of a robot with vision for internal inspection of a chassis according to claim 4, characterized in that: The pressure sensing component (33) comprises a pressure sensor (333), an upper plate (331), a lower plate (332) and a transition piece (334); the pressure sensor (333) is arranged between the upper plate (331) and the lower plate (332); the transition piece (334) is arranged between the upper plate (331) and the floating Z axis (322); the lower side of the transition piece (334) is fixedly connected to the upper plate (331); a slot is arranged at the lower end of the floating Z axis (322); the top end of the transition piece (334) is placed in the slot; a locking screw is arranged on the side wall of the slot; and the lower plate (332) is fixedly connected to the top end of the probe clamping floating component (34).

6. The end detection device of a robot with vision for internal inspection of a chassis according to claim 5, characterized in that: The probe clamping floating assembly (34) comprises a probe clamping block (343), an XY plane floating part (342) and a wire passing column (341). The top end of the wire passing column (341) is fixedly connected to the lower plate (332), and the lower end of the wire passing column (341) is fixedly connected to the top end of the XY plane floating part (342). Two probe clamping blocks (343) are provided, and the two probe clamping blocks (343) are relatively arranged on the lower side of the XY plane floating part (342). The opposite side walls of the two probe clamping blocks (343) are provided with locking grooves for locking the probes. The side wall of the wire passing column (341) is provided with a wire passing hole. One end of the wire passing hole passes through the wire passing column (341) and the XY plane floating part (342) in sequence and then communicates with the locking groove.

7. The end detection device of a robot with vision for internal inspection of a chassis according to claim 6, characterized in that: A plurality of wire binding grooves (344) are provided on the wall surfaces of the two probe clamping blocks (343) facing away from each other.

8. A robot end detection device with vision for internal inspection of a chassis according to any one of claims 1 to 7, characterized in that: The base (1) is provided with a parallel calibration component (4) which can be used to calibrate the parallelism with the chassis reference surface. The parallel calibration component (4) comprises a parallel calibration column (41) and a calibration profile (42). The parallel calibration column (41) and the calibration profile (42) are arranged vertically. The lower end of the parallel calibration column (41) is fixedly connected to the middle part of the upper side wall of the calibration profile (42). The top end of the parallel calibration column (41) is fixedly connected to the lower side wall of the base (1). The lower side of the calibration profile (42) is provided with a calibration surface which is in contact with the chassis reference surface.

9. A robot end detection device with vision for internal inspection of a chassis according to any one of claims 1 to 7, characterized in that: The coarse-shot camera (22) and the fine-shot camera (23) are provided with camera position calibration components (5) respectively. After the lens of the coarse-shot camera (22) or the fine-shot camera (23) is removed, the top end of the camera position calibration component (5) is coaxially connected to the coarse-shot camera (22) or the fine-shot camera (23) for calibrating the position of the coarse-shot camera (22) or the fine-shot camera (23).

10. A robot end detection device with vision for internal inspection of a chassis according to any one of claims 1 to 7, characterized in that: The precision shooting light source (25) is an annular light source with a lens avoidance hole in the middle, and the annular light source is coaxially arranged with the precision shooting camera (23). The rough shooting light source (24) is a point light source.

Images