Universal visual positioning device for upper and lower parts of sheet metal painting lines

Abstract

The present invention is a universal visual positioning device for upper and lower parts of a sheet metal coating line, comprising a main body and a visual inspection module correspondingly arranged on the main body, wherein the main body at least comprises a correspondingly connected positioning bracket A and a positioning bracket B, and the positioning bracket A and the positioning bracket B are both provided with a visual inspection module, and a sheet metal adsorption component, a sensing component, and a positioning module used in conjunction with the visual inspection component; the visual inspection module at least comprises a visual inspection component A and a visual inspection component B; the visual inspection component B comprises a detection camera B driven by a linear drive; the visual inspection component A comprises a rotation drive module driven by a linear drive, and a detection camera A arranged on the rotation drive module.

Description

Technical Field

[0001] The present invention relates to the field of automation equipment, and in particular to intelligent detection of plates. Specifically, it shows a universal visual positioning device for upper and lower parts of a sheet metal coating line. Background Art

[0002] In the sheet metal painting line, sheet metal parts of different shapes and specifications need to be grasped and painted, but the shapes of sheet metal parts vary greatly, such as regular-shaped flat plates and L-shaped sheet metal parts, and irregular-shaped U-shaped sheet metal parts; in the sheet metal painting line, the positions of the sheet metal hook holes are visually inspected, and then the corresponding grasping is performed through the grasping device; at this stage, visual positioning of sheet metal parts of different shapes is required. For example, the irregular-shaped U-shaped sheet metal parts need to be equipped with a visual positioning device different from the regular-shaped flat plates and L-shaped sheet metal parts, which seriously wastes production resources. At the same time, the versatility of the equipment is low and cannot meet the needs of efficient production.

[0003] Therefore, it is necessary to provide a universal visual positioning device for upper and lower parts of a sheet metal painting line to solve the above problems. Summary of the invention

[0004] The object of the present invention is to provide a universal visual positioning device for upper and lower parts of a sheet metal coating line.

[0005] The present invention achieves the above object through the following technical solutions:

[0006] A high-universal visual positioning device for upper and lower parts of a sheet metal coating line, comprising a main body and a visual detection module correspondingly arranged on the main body, wherein the main body at least comprises a correspondingly connected positioning bracket A and a positioning bracket B, and the positioning bracket A and the positioning bracket B are both provided with a visual detection module, and a sheet metal adsorption component, a sensing component, and a positioning module used in conjunction with the visual detection component;

[0007] The visual inspection module at least includes a visual inspection component A and a visual inspection component B;

[0008] The visual inspection component B includes an inspection camera B driven by a linear motion;

[0009] The visual inspection component A includes a rotation driving module driven by a linear drive, and an inspection camera A disposed on the rotation driving module.

[0010] Furthermore, the positioning bracket A and the positioning bracket B are connected by a connecting block, and columns are provided at corresponding positions of the positioning bracket A, the positioning bracket B and the connecting block.

[0011] Furthermore, a pad is provided between the column and the positioning bracket A, the positioning bracket B or the connecting block.

[0012] Furthermore, a bottom plate A, a bottom plate B, and a bottom plate C are respectively provided at corresponding positions of the lower ends of the three columns.

[0013] Furthermore, the sheet metal adsorption assembly includes an electromagnet mounting bracket arranged on the positioning bracket A or the positioning bracket B, and an electromagnet arranged on the electromagnet mounting bracket, and the electromagnet mounting bracket is correspondingly provided with an insulating washer and an insulating gasket.

[0014] Furthermore, the sensing component includes a sensor bracket arranged on the positioning bracket A or the positioning bracket B, and a magnetic sensor arranged on the sensor bracket.

[0015] Furthermore, the positioning module includes a positioning drive component, a positioning component A and a positioning component B which are connected to the positioning drive component and are provided with a corresponding positioning bracket A and a positioning bracket B.

[0016] Furthermore, the positioning drive assembly is composed of a servo motor A, a reducer A, a coupling A, and a module guide rail A.

[0017] Furthermore, the positioning assembly A includes a connecting bracket A connected to the positioning drive assembly through a positioning plate connecting block A, a positioning block connecting plate A connected to the connecting bracket A and penetrating a positioning avoidance groove of the positioning bracket A, and a positioning block A connected to the positioning block connecting plate A.

[0018] Furthermore, the positioning assembly B includes a connecting bracket B connected to the positioning drive assembly through a positioning plate connecting block B, a positioning block connecting plate B connected to the connecting bracket B and penetrating a positioning avoidance groove of the positioning bracket B, and a positioning block B connected to the positioning block connecting plate B.

[0019] Furthermore, the connecting bracket B is correspondingly provided with a linear guide rail.

[0020] Furthermore, camera bracket connecting plates are provided on the three columns.

[0021] Furthermore, the visual inspection component A also includes a camera bracket A, a beam A connected to the camera bracket A, a linear drive module A arranged on the beam A and composed of a servo motor B, a reducer B, a coupling B, and a module guide rail B, and a rotary drive module connected to the linear drive module A.

[0022] Furthermore, the rotary drive module includes a connecting plate A connected to the linear drive module A, a rotary cylinder arranged on the connecting plate A, a camera mounting bracket A connected to the rotary cylinder, and a camera A and a light source A correspondingly arranged on the camera mounting bracket A.

[0023] Furthermore, the linear drive module A is correspondingly provided with a connecting plate B, and the connecting plate B is connected to a drag chain bracket A for accommodating the drag chain A.

[0024] Furthermore, the visual inspection component B also includes a camera bracket B, a beam B connected to the camera bracket B, a linear drive module B arranged on the beam B and composed of a servo motor C, a reducer C, a coupling C, and a module guide rail C, a camera mounting bracket B connected to the linear drive module B, and a camera B and a light source B correspondingly arranged on the camera mounting bracket B.

[0025] Furthermore, the linear drive module B is correspondingly provided with a connecting plate C, and the connecting plate C is connected to a drag chain bracket B for accommodating the drag chain B.

[0026] Furthermore, after the sheet metal is adsorbed by the electromagnet, the positioning block A and the positioning block B of the positioning module move upward. When the sheet metal is detected by the sensor and the positioning block A and the positioning block B stop, the visual inspection component A performs a moving inspection on one side of the sheet metal through linear drive: the position of the hook hole of the sheet metal is detected, and a photo is taken to obtain the coordinates of the hook hole of the sheet metal; if the position of the hook hole of the sheet metal is not detected, the camera A is rotated to the other side of the sheet metal through the rotation drive module to detect the position of the hook hole of the sheet metal, and then a photo is taken to obtain the coordinates of the hook hole of the sheet metal; a highly versatile sheet metal grasping part detection structure is formed.

[0027] Compared with the prior art, the present invention achieves high-precision positioning of the workpiece by setting a highly versatile sheet metal grabbing part detection structure, making it easier for the robot arm to hook the sheet metal and place it on the upper coating line, thereby reducing the waste of production resources and improving detection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is one of the structural schematic diagrams of the present invention.

[0029] Figure 2 This is the second structural schematic diagram of the present invention.

[0030] Figure 3 It is the third structural schematic diagram of the present invention.

[0031] Figure 4 It is the fourth structural schematic diagram of the present invention.

[0032] Figure 5 It is the fifth structural schematic diagram of the present invention. DETAILED DESCRIPTION

[0033] See also Figures 1 to 5 This embodiment shows a universal visual positioning device for upper and lower parts of a sheet metal coating line, including a main body 100 and a visual detection module correspondingly arranged on the main body, the main body at least includes a correspondingly connected positioning bracket A1 and a positioning bracket B2, the positioning bracket A1 and the positioning bracket B2 are both provided with a visual detection module, and a sheet metal adsorption component, a sensing component, and a positioning module used in conjunction with the visual detection component;

[0034] The visual inspection module at least includes a visual inspection component A200 and a visual inspection component B300;

[0035] The visual inspection component B300 includes an inspection camera B driven by a straight line;

[0036] The visual inspection component A200 includes a rotation driving module driven by linear motion, and an inspection camera A disposed on the rotation driving module.

[0037] The positioning bracket A1 and the positioning bracket B2 are connected via a connecting block 3 , and columns 7 are provided at corresponding positions of the positioning bracket A1 , the positioning bracket B2 , and the connecting block 3 .

[0038] A pad 71 is provided between the column 7 and the positioning bracket A1 , the positioning bracket B2 or the connecting block 3 .

[0039] A bottom plate A6, a bottom plate B61 and a bottom plate C62 are respectively arranged at the corresponding lower ends of the three columns 7.

[0040] The three columns 7 are connected by the cross beam A5 and the cross beam B51.

[0041] The sheet metal adsorption assembly includes an electromagnet mounting bracket 4 arranged on the positioning bracket A1 or the positioning bracket B2, and an electromagnet arranged on the electromagnet mounting bracket 4, and the electromagnet mounting bracket 4 is correspondingly provided with an insulating washer 41 and an insulating gasket 42.

[0042] The induction component includes an induction bracket 3 disposed on the positioning bracket A1 or the positioning bracket B2 , and a magnetic induction sensor 31 disposed on the induction bracket 3 .

[0043] The positioning module includes a positioning drive assembly 70 , and a positioning assembly A and a positioning assembly B connected to the positioning drive assembly 70 and arranged corresponding to a positioning bracket A1 and a positioning bracket B2 .

[0044] The positioning drive assembly 70 is composed of a servo motor A701, a reducer A702, a coupling A703, and a module guide rail A.

[0045] The positioning assembly A includes a connecting bracket A73 connected to the positioning drive assembly through the positioning plate connecting block A, a positioning block connecting plate A75 connected to the connecting bracket A73 and penetrating the positioning avoidance groove of the positioning bracket A1, and a positioning block A74 connected to the positioning block connecting plate A75.

[0046] The positioning assembly B includes a positioning plate connecting block B85, a connecting bracket B84 connected to the positioning drive assembly, a positioning block connecting plate B83 connected to the connecting bracket B84 and penetrating the positioning avoidance groove of the positioning bracket B2, and a positioning block B87 connected to the positioning block connecting plate B83.

[0047] The connecting bracket B84 is correspondingly provided with a linear guide rail 8.

[0048] The connecting bracket B84 corresponds to the guide block 82 provided on the linear guide rail 8 .

[0049] The three columns are each provided with a camera support connecting plate 72 or 81 .

[0050] The visual inspection component A200 also includes a camera bracket A201, a beam A202 connected to the camera bracket A201, a linear drive module A203 arranged on the beam A202 and composed of a servo motor B208, a reducer B, a coupling B209, and a module guide rail B, and a rotary drive module connected to the linear drive module A203.

[0051] The rotary drive module includes a connecting plate A212 connected to the linear drive module A203, a rotary cylinder 210 arranged on the connecting plate A212, a camera mounting bracket A206 connected to the rotary cylinder 210, and a camera A205 and a light source A207 correspondingly arranged on the camera mounting bracket A206.

[0052] The camera A205 is provided with a camera cover A204 accordingly.

[0053] A limiting column 211 is provided on the connecting plate A212 , and a buffer block 214 is provided on a camera connecting plate 213 for setting the camera mounting bracket A206 , corresponding to the limiting column 211 .

[0054] The linear drive module A203 is correspondingly provided with a connecting plate B215, and the connecting plate B215 is connected to a drag chain bracket A217 for accommodating a drag chain A216.

[0055] The visual inspection component B300 also includes a camera bracket B301, a beam B302 connected to the camera bracket B301, a linear drive module B303 arranged on the beam B302 and composed of a servo motor C312, a reducer C, a coupling C311, and a module guide rail C, a corresponding connecting block 304 connected to the linear drive module B303 for setting a camera mounting bracket B305, a camera B306 and a light source B308 correspondingly arranged on the camera mounting bracket B305, and a camera cover B307 arranged corresponding to the camera B306.

[0056] The linear drive module B303 is correspondingly provided with a connecting plate C309, and the connecting plate C309 is connected to a drag chain bracket B313 for accommodating the drag chain B310.

[0057] After the sheet metal is adsorbed by the electromagnet, the positioning block A74 and the positioning block B87 of the positioning module move upward. When the sheet metal is detected by the sensor and the positioning block A74 and the positioning block B87 stop, the visual inspection component A performs a moving inspection on one side of the sheet metal through linear drive: the position of the hook hole of the sheet metal is detected, and a photo is taken to obtain the coordinates of the hook hole of the sheet metal; if the position of the hook hole of the sheet metal is not detected, the camera A is rotated to the other side of the sheet metal through the rotation drive module to detect the position of the hook hole of the sheet metal, and then a photo is taken to obtain the coordinates of the hook hole of the sheet metal; a highly versatile sheet metal grasping detection structure is formed.

[0058] Compared with the prior art, this embodiment achieves high-precision positioning of the workpiece by setting a highly versatile sheet metal grabbing detection structure, making it easier for the robot to hook the sheet metal and place it on the upper coating line, thereby reducing the waste of production resources and improving detection efficiency.

[0059] The above are only some embodiments of the present invention. For those skilled in the art, several modifications and improvements can be made without departing from the creative concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A universal visual positioning device for upper and lower parts of a sheet metal coating line, characterized in that: It includes a main body and a visual inspection module correspondingly arranged on the main body, the main body at least includes a correspondingly connected positioning bracket A and a positioning bracket B, and the positioning bracket A and the positioning bracket B are both provided with a visual inspection module, and a sheet metal adsorption component, a sensing component, and a positioning module used in conjunction with the visual inspection component; The visual inspection module at least includes a visual inspection component A and a visual inspection component B; The visual inspection component B includes an inspection camera B driven by a linear motion; The visual inspection component A includes a rotation drive module driven by a linear drive, and an inspection camera A disposed on the rotation drive module; The sheet metal adsorption component includes an electromagnet mounting bracket arranged on the positioning bracket A or the positioning bracket B, and an electromagnet arranged on the electromagnet mounting bracket, and the electromagnet mounting bracket is correspondingly provided with an insulating gasket and an insulating gasket; the induction component includes an inductor bracket arranged on the positioning bracket A or the positioning bracket B, and a magnetic inductor arranged on the inductor bracket; the positioning module includes a positioning drive component, a positioning component A and a positioning component B connected to the positioning drive component and arranged corresponding to the positioning bracket A and the positioning bracket B; the positioning component A includes a connecting bracket A connected to the positioning drive component through a positioning plate connecting block A, a positioning block connecting plate A connected to the connecting bracket A and penetrating the positioning avoidance groove of the positioning bracket A, and a positioning block A connected to the positioning block connecting plate A; the positioning component B includes a through A connecting bracket B connected to the positioning drive component through the positioning plate connecting block B, a positioning block connecting plate B connected to the connecting bracket B and penetrating the positioning avoidance groove of the positioning bracket B, and a positioning block B connected to the positioning block connecting plate B; after the sheet metal is adsorbed by the electromagnet, the positioning block A and the positioning block B of the positioning module move upward, and when the sheet metal is detected by the sensor, the positioning block A and the positioning block B stop, and the visual inspection component A performs a traveling inspection on one side of the sheet metal through a linear drive: the position of the hook hole of the sheet metal is detected, and a photo is taken to obtain the coordinates of the hook hole of the sheet metal; if the position of the hook hole of the sheet metal is not detected, the camera A is rotated to the other side of the sheet metal through the rotating drive module, and the position of the hook hole of the sheet metal is detected, and then a photo is taken to obtain the coordinates of the hook hole of the sheet metal; a universal sheet metal grasping part detection structure is formed.

2. A universal visual positioning device for upper and lower parts of a sheet metal coating line according to claim 1, characterized in that: The visual inspection component A also includes a camera bracket A, a beam A connected to the camera bracket A, a linear drive module A arranged on the beam A and composed of a servo motor B, a reducer B, a coupling B, and a module guide rail B, and a rotary drive module connected to the linear drive module A.

3. A universal visual positioning device for upper and lower parts of a sheet metal coating line according to claim 2, characterized in that: The rotary drive module includes a connecting plate A connected to the linear drive module A, a rotary cylinder arranged on the connecting plate A, a camera mounting bracket A connected to the rotary cylinder, and a camera A and a light source A correspondingly arranged on the camera mounting bracket A.

4. A universal visual positioning device for upper and lower parts of a sheet metal coating line according to claim 3, characterized in that: The visual inspection component B also includes a camera bracket B, a beam B connected to the camera bracket B, a linear drive module B arranged on the beam B and composed of a servo motor C, a reducer C, a coupling C, and a module guide rail C, a camera mounting bracket B connected to the linear drive module B, and a camera B and a light source B correspondingly arranged on the camera mounting bracket B.

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