An automatic grabbing and testing system for spatial special-shaped pipe fittings

Abstract

The present invention discloses an automatic grasping and detecting system for spatial special-shaped pipe fittings, which comprises an X-ray digital real-time imaging module, a robot grasping module, a manipulator quick-change module, a visual positioning module, a loading and unloading transmission module and a digital control module. The present invention has the advantages of strong compatibility, simple operation, accurate visual system identification and positioning, strong grasping reliability, etc., which can meet the batch grasping and detecting of pipe fittings and improve the detection efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of pipe fitting detection technology, and in particular to an automatic grasping and detecting system for spatial special-shaped pipe fittings. Background Art

[0002] At present, X-ray inspection of small pipes still relies on manual interpretation of films and manual recording of corresponding data and results of weld quality records on paper quality record cards in a fixed format. Film archiving management and query are very inconvenient, and the labor intensity is high.

[0003] For the inspection of spatial special-shaped structural pipes, due to the complex structure of the pipes and the large difference in length and spatial dimensions, most of the current methods use wooden blocks, wooden stools, ropes, etc. to tie, pad, press, etc. to fix the products. This takes a long time to prepare and has poor stability, resulting in low efficiency of existing inspection methods. Summary of the invention

[0004] In view of the above-mentioned deficiencies in the prior art, the present invention provides an automatic grasping and detection system for spatial special-shaped pipe fittings, which realizes the full automation of positioning, grasping and detection of different types of pipe fittings products. It adopts a modular design and is adaptable to the fixation of different spatial structures, pipe diameters and lengths. It solves the problems of low detection efficiency and high manual fatigue intensity of special-shaped pipe fittings, and improves the efficiency of pipe quality inspection.

[0005] In order to achieve the above-mentioned object of the invention, the technical solution adopted by the present invention is:

[0006] An automatic grasping and detecting system for spatial special-shaped pipe fittings, comprising an X-ray digital real-time imaging module, a robot grasping module, a manipulator quick-change module, a visual positioning module, a loading and unloading transmission module and a digital control module;

[0007] The loading and unloading conveying module is used to assemble different types of spatial special-shaped pipe fittings on corresponding placement units, and to transfer the placement units for assembling spatial special-shaped pipe fittings to the inspection station; after the inspection is completed, the placement units for assembling spatial special-shaped pipe fittings are transferred from the inspection station to the assembly position;

[0008] The visual positioning module is used to position and identify the spatial special-shaped pipes assembled on the placement unit;

[0009] The robot grasping module is used to select a corresponding mechanical grasper at the manipulator quick-change module according to the type of the spatial special-shaped pipe fitting, and then grasp the spatial special-shaped pipe fitting according to the positioning result of the spatial special-shaped pipe fitting, and then drive the spatial special-shaped pipe fitting to move to the radiographic imaging detection area, and drive the spatial special-shaped pipe fitting to switch the angle after completing one more detection, and then assemble the spatial special-shaped pipe fitting on the corresponding placement unit according to the positioning result of the spatial special-shaped pipe fitting after completing all imaging detections;

[0010] The robot quick-change module is used to assemble corresponding robot grippers according to different types of spatial special-shaped pipe fittings;

[0011] The X-ray digital real-time imaging module is used to perform imaging detection on the spatial special-shaped pipes in the radiographic detection area;

[0012] The digital control module is used to guide the user to assemble different types of spatial special-shaped pipe fittings on the display units corresponding to the loading and unloading conveying modules, and control the operation of the loading and unloading conveying modules; obtain the positioning information of the spatial special-shaped pipe fittings assembled on the display units according to the image information of the spatial special-shaped pipe fittings collected by the visual positioning module, and transmit it to the robot grasping module; control the robot grasping module to select the corresponding mechanical gripper at the manipulator quick change module according to the type of the spatial special-shaped pipe fittings, and then grasp and move the spatial special-shaped pipe fittings according to the positioning results of the spatial special-shaped pipe fittings; control the X-ray digital real-time imaging module to collect the image of the spatial special-shaped pipe fittings, and perform imaging detection.

[0013] Optionally, the loading and unloading conveying module includes an automatic transfer unit and a placement unit arranged on the automatic transfer unit;

[0014] The placement unit includes a direct placement component and a support placement component, which is used to place and fix different types of spatial special-shaped pipe fittings by direct placement or support placement;

[0015] The automatic transfer unit is used to transfer the placement unit of the special-shaped pipe fittings in the assembly space to the inspection station according to the control signal transmitted by the digital management and control module, and to transfer the placement unit of the special-shaped pipe fittings in the assembly space from the inspection station to the assembly position after the inspection is completed.

[0016] Optionally, the direct placement component includes a placement base plate and a clamping seat installed on the placement base plate and fixing the intermediate special-shaped pipe fittings.

[0017] Optionally, the supporting display assembly includes a display base plate, a switch-type magnetic support column installed on the display base plate, a clamping quick-change seat fixedly connected to the upper end of the switch-type magnetic support column, and a magnetic clamping seat installed on the clamping quick-change seat and fixing the special-shaped pipe fittings.

[0018] Optionally, the automatic transfer unit includes a profile frame, and a synchronous belt conveyor installed above the profile frame and carrying a placement unit, a caster foot ring assembly is provided at the bottom of the profile frame, and ribs are provided on both sides of the synchronous belt conveyor installed on the profile frame, and a proximity switch is provided at one end of the synchronous belt conveyor.

[0019] Optionally, the robot quick-change module includes a quick-change support frame, and a quick-change support plate installed on the quick-change support frame, the quick-change support plate is provided with a plurality of robot gripper mounting slots, and a single-finger robot gripper or a double-finger robot gripper is installed in each of the robot gripper mounting slots.

[0020] Optionally, the robot grasping module includes a robot mounting base, a robot body mounted on the robot mounting base, a manipulator quick-change assembly connected to the gripper end of the robot body via a connecting flange, a manipulator gripper mounted on the manipulator quick-change assembly, and a clamping assembly mounted on the manipulator gripper.

[0021] The present invention has the following beneficial effects:

[0022] The present invention has the advantages of strong compatibility, simple operation, accurate visual system identification and positioning, strong grasping reliability, etc. It can meet the needs of batch grasping and testing of pipe parts and improve detection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of an automatic grasping and detecting system for spatial special-shaped pipe fittings according to an embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of the structure of directly placing components in an embodiment of the present invention;

[0025] Figure 3 This is a schematic diagram of the structure of the supporting placement assembly in an embodiment of the present invention;

[0026] Figure 4 It is a structural schematic diagram of an automatic transfer unit in an embodiment of the present invention;

[0027] Figure 5 This is a schematic diagram of the structure of a robot quick-change module in an embodiment of the present invention;

[0028] Figure 6 Schematic diagram of the structure of the robot grasping module in an embodiment of the present invention.

[0029] In the figure, 1. X-ray digital real-time imaging module, 2. Robot grasping module, 2-1. Robot mounting base, 2-2. Robot body, 2-3. Connecting flange, 2-4. Robot quick-change assembly, 2-5. Robot gripper, 2-6. Clamping assembly, 3. Robot quick-change module, 3-1. Quick-change support frame, 3-2. Quick-change support plate, 3-3. Single-finger mechanical gripper, 3-4. Double-finger mechanical gripper, 4. Visual positioning module, 5. Loading and unloading material transmission module, 5-1-1. Profile frame, 5-1-2. Synchronous belt conveyor, 5-1-3. Caster foot ring assembly, 5-1-4. Side guard, 5-1-5. Proximity switch, 5-2-1. Placement base plate, 5-2-2. Clamping seat, 5-2-3. Switch-type magnetic support column, 5-2-4. Clamping quick-change seat, 5-2-5. Magnetic clamping seat, 6. Digital control module. DETAILED DESCRIPTION

[0030] The specific implementation modes of the present invention are described below so that those skilled in the art can understand the present invention. However, it should be clear that the present invention is not limited to the scope of the specific implementation modes. For those of ordinary skill in the art, as long as various changes are within the spirit and scope of the present invention as defined and determined by the attached claims, these changes are obvious, and all inventions and creations utilizing the concept of the present invention are protected.

[0031] like Figure 1 As shown, an embodiment of the present invention provides an automatic grasping and detecting system for spatial special-shaped pipe fittings, including an X-ray digital real-time imaging module 1, a robot grasping module 2, a manipulator quick-change module 3, a visual positioning module 4, a loading and unloading conveying module 5 and a digital control module 6;

[0032] The loading and unloading conveying module 5 is used to assemble different types of spatial special-shaped pipe fittings on the corresponding placement units, and to transfer the placement units of the assembled spatial special-shaped pipe fittings to the inspection station; after the inspection is completed, the placement units of the assembled spatial special-shaped pipe fittings are transferred from the inspection station to the assembly position;

[0033] The visual positioning module 4 is used to position and identify the spatial special-shaped pipes assembled on the placement unit;

[0034] The robot grasping module 2 is used to select the corresponding mechanical grasper at the manipulator quick change module according to the type of the spatial special-shaped pipe fitting, and then grasp the spatial special-shaped pipe fitting according to the positioning result of the spatial special-shaped pipe fitting, and then drive the spatial special-shaped pipe fitting to move to the radiographic imaging detection area, and drive the spatial special-shaped pipe fitting to switch the angle after completing one more detection, and then assemble the spatial special-shaped pipe fitting on the corresponding placement unit according to the positioning result of the spatial special-shaped pipe fitting after completing all imaging detections;

[0035] The robot quick-change module 3 is used to assemble corresponding robot grippers according to different types of spatial special-shaped pipe fittings;

[0036] The X-ray digital real-time imaging module 1 is used to perform imaging detection on the spatial special-shaped pipes in the radiographic detection area;

[0037] The digital control module 6 is used to guide the user to assemble different types of spatial special-shaped pipe fittings on the display units corresponding to the loading and unloading conveying module 5, and control the operation of the loading and unloading conveying module 5; obtain the positioning information of the spatial special-shaped pipe fittings assembled on the display units according to the image information of the spatial special-shaped pipe fittings collected by the visual positioning module 4, and transmit it to the robot grasping module 2; control the robot grasping module 2 to select the corresponding mechanical gripper at the manipulator quick change module 3 according to the type of the spatial special-shaped pipe fitting, and then grasp and move the spatial special-shaped pipe fitting according to the positioning result of the spatial special-shaped pipe fitting; control the X-ray digital real-time imaging module 1 to collect images of spatial special-shaped pipe fittings, and perform imaging detection.

[0038] The X-ray digital real-time imaging module 1, robot grasping module 2 and visual positioning module 4 of the present invention are located in a closed lead room; the loading and unloading material transmission module 5 is divided into two parts, inside and outside, respectively located inside and outside the lead room; the digital control module 6 is located outside the lead room.

[0039] The present invention first uses the digital control module 6 to guide the user to place and fix the parts, and then the parts will be automatically sent to the inspection station in the lead plate room, and then the robot grasping module 2 is controlled to select the corresponding mechanical gripper according to different pipe fittings, and then the visual positioning module 4 is used to identify and locate the clamping seat, and guide the robot grasping module 2 to grasp the clamping seat. After the grasping is completed, the robot grasping module 2 sends the parts to the imaging area of ​​the X-ray digital real-time imaging module 1. After the inspection is completed, the robot grasping module 2 is controlled to put it back to the initial position according to the visual positioning result. After completing a batch of inspections, the parts will be automatically sent out of the lead plate room. The present invention adopts a double-station design and can perform continuous operation.

[0040] In an optional embodiment of the present invention, the loading and unloading conveying module 5 includes an automatic transfer unit and a placement unit arranged on the automatic transfer unit;

[0041] The placement unit includes a direct placement component and a support placement component, which is used to place and fix different types of spatial special-shaped pipe fittings by direct placement or support placement;

[0042] The automatic transfer unit is used to transfer the placement unit of the special-shaped pipe fittings in the assembly space to the inspection station according to the control signal transmitted by the digital management and control module, and to transfer the placement unit of the special-shaped pipe fittings in the assembly space from the inspection station to the assembly position after the inspection is completed.

[0043] In an optional embodiment of the present invention, Figure 2 As shown, the direct placement assembly includes a placement base plate 5-2-1 and a clamping seat 5-2-2 installed on the placement base plate 5-2-1 and fixing the intermediate special-shaped pipe fittings.

[0044] In an optional embodiment of the present invention, Figure 3 As shown, the supporting display assembly includes a display base plate 5-2-1, a switchable magnetic support column 5-2-3 installed on the display base plate 5-2-1, a clamping quick-change seat 5-2-4 fixedly connected to the upper end of the switchable magnetic support column 5-2-3, and a magnetic clamping seat 5-2-5 installed on the clamping quick-change seat 5-2-4 and fixing the special-shaped pipe fittings.

[0045] In an optional embodiment of the present invention, Figure 4 As shown, the automatic transfer unit includes a profile frame 5-1-1, and a synchronous belt conveyor 5-1-2 installed above the profile frame 5-1-1 and carrying a placement unit, a caster foot ring assembly 5-1-3 is provided at the bottom of the profile frame 5-1-1, and side guards 5-1-4 are respectively provided on both sides of the synchronous belt conveyor 5-1-2 installed on the profile frame 5-1-1, and a proximity switch 5-1-5 is provided at one end of the synchronous belt conveyor 5-1-2.

[0046] Specifically, the loading and unloading conveying module 5 of the present invention includes an automatic transfer unit and a placement unit. The parts are adsorbed and placed on the placement unit, and then automatically transferred to the inspection station in the lead room through the automatic transmission unit;

[0047] The placement unit of the present invention is divided into two modes: direct placement and support placement, which are compatible with the placement and fixation of various special-shaped pipe fittings in space; the placement unit adopts a modular design, and the pipe fittings with simple spatial structure are clamped by the clamping seat 5-2-2 and then adsorbed to the corresponding position of the tray device; the pipe fittings with complex spatial structure are clamped by the magnetic clamping seat 5-2-5 and then placed on the clamping quick-change seat 5-2-4;

[0048] The magnetic clamping seat 5-2-5 on the clamping quick-change seat 5-2-4 can be replaced according to different pipe diameters, etc., and has strong compatibility. The clamping quick-change seat 5-2-4 is connected to the switch-type magnetic support device 5-2-3 through a guide pin.

[0049] In an optional embodiment of the present invention, Figure 5As shown, the robot quick-change module 3 includes a quick-change support frame 3-1 and a quick-change support plate 3-2 installed on the quick-change support frame 3-1. The quick-change support plate 3-2 is provided with a plurality of robot gripper mounting slots, and a single-finger robot gripper 3-3 or a double-finger robot gripper 3-4 is installed in each of the robot gripper mounting slots.

[0050] In an optional embodiment of the present invention, Figure 6 As shown, the robot grasping module 2 includes a robot mounting base 2-1, a robot body 2-2 mounted on the robot mounting base 2-1, a manipulator quick-change assembly 2-4 connected to the gripper end of the robot body 2-2 via a connecting flange 2-3, a manipulator gripper 2-5 mounted on the manipulator quick-change assembly 2-4, and a clamping assembly 2-6 mounted on the manipulator gripper 2-5.

[0051] The present invention utilizes the manipulator quick-change module 3 and the robot grasping module 2 in cooperation with each other, and can have multiple working conditions such as single-finger grasping and double-finger grasping.

[0052] The workflow of the detection system of the present invention is:

[0053] The operator first enters the pipe number information into the digital control module 6. For pipes with simple spatial structures, the operator uses the clamping seat 5-2-2 to clamp them, and then adsorbs and places them in the corresponding position of the placement unit under the guidance of the digital control module 6. For pipes with complex spatial structures, the operator uses the magnetic clamping seat 5-2-5 to clamp them, and then places them on the clamping quick-change seat 5-2-4. The clamping quick-change seat 5-2-4 is connected to the switch-type magnetic support device 5-2-3 through a guide pin, and is similarly placed and fixed on the placement unit under the guidance of the digital control module 6. After the placement is completed, the automatic detection control program is started through the digital control module 6. First, the automatic lifting window is opened, and then the automatic transmission unit is started to send the parts to be inspected into the inspection station. The robot grasping module 2 will select the corresponding mechanical gripper at the manipulator quick change module 3 according to different pipes. Then the visual positioning module 4 will identify the positioning clamping seat, and guide the robot grasping module 2 to grasp the clamping seat, and then drive the parts and the clamping seat to move together to the X-ray imaging detection area of ​​the X-ray digital real-time imaging module 1. After reaching the designated position, the X-ray digital real-time imaging module 1 will perform imaging detection on the parts. After completing one detection, the robot grasping module 2 will drive the pipe to switch the angle and image again. After completing all imaging detections, the visual positioning module 4 will again guide the robot grasping module 2 to put the parts back to the original station. Finally, after completing a batch of imaging detections, the automatic transmission unit will send the parts out of the lead plate room. The present invention adopts a double-station mode. When automatic detection is performed in the lead plate room, the parts are placed in the lead plate room shell and continue to be placed, thereby achieving continuous operation.

[0054] The present invention uses specific embodiments to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

[0055] Those skilled in the art will appreciate that the embodiments described herein are intended to help readers understand the principles of the present invention, and should be understood that the protection scope of the present invention is not limited to such specific statements and embodiments. Those skilled in the art can make various other specific variations and combinations that do not deviate from the essence of the present invention based on the technical revelations disclosed by the present invention, and these variations and combinations are still within the protection scope of the present invention.

Claims

1. An automatic grabbing and detecting system for spatial special-shaped pipe fittings, characterized in that: It comprises an X-ray digital real-time imaging module (1), a robot grasping module (2), a manipulator quick-change module (3), a visual positioning module (4), a loading and unloading transmission module (5) and a digital control module (6); The loading and unloading conveying module (5) is used to assemble different types of spatial special-shaped pipe fittings on corresponding placement units, and to transfer the placement units for assembling spatial special-shaped pipe fittings to the inspection station; after the inspection is completed, the placement units for assembling spatial special-shaped pipe fittings are transferred from the inspection station to the assembly position; The visual positioning module (4) is used to position and identify the spatial special-shaped pipe fittings assembled on the placement unit; The robot grasping module (2) is used to select a corresponding mechanical grasper at the mechanical grasper quick-change module (3) according to the type of the spatial special-shaped pipe fitting, and then grasp the spatial special-shaped pipe fitting according to the positioning result of the spatial special-shaped pipe fitting, and then drive the spatial special-shaped pipe fitting to move to the radiographic imaging detection area, and drive the spatial special-shaped pipe fitting to switch the angle after completing another detection, and then assemble the spatial special-shaped pipe fitting on the corresponding placement unit according to the positioning result of the spatial special-shaped pipe fitting after completing all imaging detections; The robot quick-change module (3) is used to assemble corresponding robot grippers according to different types of spatial special-shaped pipe fittings; The X-ray digital real-time imaging module (1) is used to perform imaging detection on spatial special-shaped pipe fittings in a radiographic detection area; The digital control module (6) is used to guide the user to respectively assemble different types of spatial special-shaped pipe fittings on the placement units corresponding to the loading and unloading conveying module (5), and control the loading and unloading conveying module (5) to operate; obtain the positioning information of the spatial special-shaped pipe fittings according to the image information of the spatial special-shaped pipe fittings assembled on the placement units collected by the visual positioning module (4), and transmit it to the robot grasping module (2); control the robot grasping module (2) to select the corresponding mechanical gripper at the mechanical arm quick change module (3) according to the type of the spatial special-shaped pipe fitting, and then grasp and move the spatial special-shaped pipe fitting according to the positioning result of the spatial special-shaped pipe fitting; control the X-ray digital real-time imaging module (1) to collect images of the spatial special-shaped pipe fittings, and perform imaging detection; The loading and unloading conveying module (5) comprises an automatic transfer unit and a placement unit arranged on the automatic transfer unit; The placement unit includes a direct placement component and a support placement component, which is used to place and fix different types of spatial special-shaped pipe fittings by direct placement or support placement; The automatic transfer unit is used to transfer the placement unit of the special-shaped pipe fittings in the assembly space to the inspection station according to the control signal transmitted by the digital control module, and transfer the placement unit of the special-shaped pipe fittings in the assembly space from the inspection station to the assembly position after the inspection is completed; The direct placement component comprises a placement base plate (5-2-1) and a clamping seat (5-2-2) installed on the placement base plate (5-2-1) and fixing the spatial special-shaped pipe fitting; The supporting placement assembly comprises a placement base plate (5-2-1), a switchable magnetic support column (5-2-3) mounted on the placement base plate (5-2-1), a clamping quick-change seat (5-2-4) fixedly connected to the upper end of the switchable magnetic support column (5-2-3), and a magnetic clamping seat (5-2-5) mounted on the clamping quick-change seat (5-2-4) and fixing the intermediate special-shaped pipe fitting.

2. The automatic grasping and detecting system for spatial special-shaped pipe fittings according to claim 1 is characterized in that: The automatic transfer unit comprises a profile frame (5-1-1), and a synchronous belt conveyor (5-1-2) installed above the profile frame (5-1-1) and carrying a placement unit; a caster foot ring assembly (5-1-3) is arranged at the bottom of the profile frame (5-1-1); retaining edges (5-1-4) are respectively arranged on both sides of the synchronous belt conveyor (5-1-2) installed on the profile frame (5-1-1); and a proximity switch (5-1-5) is arranged at one end of the synchronous belt conveyor (5-1-2).

3. The automatic grasping and detecting system for spatial special-shaped pipe fittings according to claim 1 is characterized in that: The robot quick-change module (3) comprises a quick-change support frame (3-1) and a quick-change support plate (3-2) mounted on the quick-change support frame (3-1); the quick-change support plate (3-2) is provided with a plurality of robot gripper mounting slots, and a single-finger robot gripper (3-3) or a double-finger robot gripper (3-4) is mounted in each of the robot gripper mounting slots.

4. The automatic grasping and detecting system for spatial special-shaped pipe fittings according to claim 1 is characterized in that: The robot grasping module (2) comprises a robot mounting base (2-1), a robot body (2-2) mounted on the robot mounting base (2-1), a manipulator quick-change assembly (2-4) connected to the gripper end of the robot body (2-2) via a connecting flange (2-3), a manipulator gripper (2-5) mounted on the manipulator quick-change assembly (2-4), and a clamping assembly (2-6) mounted on the manipulator gripper (2-5).

Images