A robot vision detection device based on a DCS control system

Abstract

The present invention discloses a robot vision detection device based on a DCS control system, specifically relating to the technical field of robot vision detection. It includes a bottom plate. On one side of the top of the bottom plate, there is a detection platform mechanism for receiving products. In the middle position inside the bottom plate, a first threaded rod is movably connected through a bearing. One end of the first threaded rod penetrates through the bottom plate and extends to the front side of the bottom plate. A moving base is threadedly connected to the outer end of the first threaded rod. A robotic arm is fixedly arranged on the top of the moving base. A moving light-shielding mechanism is arranged at the outer end of the robotic arm. In the present invention, a movable moving frame is installed outside the robotic arm, and a light-shielding component is inserted inside the moving frame for light shielding, so as to avoid the influence of changes in external light on shooting. Moreover, a plurality of supplementary lights are installed inside the moving frame to provide supplementary light to supplement the light required for shooting, thereby ensuring the accuracy of the image information obtained through the robotic arm.

Description

Technical Field

[0001] The present invention relates to the technical field of robot vision detection, and particularly relates to a robot vision detection device based on a DCS control system. Background Art

[0002] DCS is the abbreviation of distributed control system. The distributed control system is a new generation of instrument control system based on microprocessors, adopting the design principle of decentralized control functions, centralized display and operation, taking into account decentralized autonomy and comprehensive coordination. It adopts the basic design concept of decentralized control and centralized operation and management, and adopts a multi-layer hierarchical and cooperative autonomous structure form. Its main feature is its centralized management and decentralized control. DCS has been extremely widely used in various industries such as electric power, metallurgy, and petrochemical. Moreover, the DCS control system is also applied in the field of robot vision detection technology. Vision detection refers to converting the captured target into an image signal through a machine vision product (i.e., an image acquisition device, divided into two types: CMOS and CCD), transmitting it to a dedicated image processing system, and converting it into a digital signal according to information such as pixel distribution, brightness, and color; the image system performs various operations on these signals to extract the features of the target, and then controls the actions of on-site equipment according to the discrimination results, which is a valuable mechanism for production, assembly, or packaging. It has inestimable value in the functions of detecting defects and preventing defective products from being delivered to consumers.

[0003] However, the image information captured by the current robot vision detection device with a DCS control system is easily affected by the changing surrounding light, thus affecting the accuracy of the results detected by the robot.

[0004] Therefore, it is very necessary to invent a robot vision detection device based on a DCS control system to solve the above problems. Summary of the Invention

[0005] The object of the present invention is to provide a robot vision detection device based on a DCS control system. By installing a movable moving frame outside the robotic arm and inserting a light-shielding component inside the moving frame for light shielding, it is possible to avoid the influence of external light changes on shooting. Moreover, a plurality of fill lights are installed inside the moving frame to provide fill light to supplement the light required for shooting, thereby ensuring the accuracy of the image information obtained by the robotic arm and solving the above deficiencies in the technology.

[0006] To achieve the above object, the present invention provides the following technical solution: A robot vision detection device based on a DCS control system, including a bottom plate, on one side of the top of the bottom plate, there is a detection platform mechanism for receiving products. In the middle position inside the bottom plate, a first threaded rod is movably connected through a bearing. One end of the first threaded rod penetrates the bottom plate and extends to the front side of the bottom plate. A moving base is threadedly connected to the outer end of the first threaded rod. A robotic arm is fixedly arranged on the top of the moving base, and a moving light-shielding mechanism is arranged at the outer end of the robotic arm.

[0007] The moving light-shielding mechanism includes a moving frame. The moving frame covers the outside of the bottom plate. Two second threaded rods are arranged at the bottom of the moving frame. The second threaded rods penetrate the moving frame and are threadedly connected to the moving frame. Both ends of the second threaded rods are movably connected to the bottom plate through bearings. The rear end of the second threaded rod penetrates the bottom plate and extends to the rear side of the bottom plate. A first transmission mechanism is arranged between the two second threaded rods. A light-shielding component is inserted into the moving frame. The light-shielding component includes four vertical plates, and the tops of the four vertical plates are fixedly connected together by a cross-shaped plate. A third threaded rod is threadedly connected to the middle position of the cross-shaped plate. A second transmission mechanism for driving its rotation is arranged at the top of the third threaded rod. A plurality of supplementary light lamps are fixedly arranged on the front side, rear side, and top inside the moving frame. A plurality of second grooves are formed inside the moving frame, and the vertical plates are inserted into the second grooves.

[0008] Preferably, the detection platform mechanism includes a detection platform and a ramp. The detection platform is fixedly arranged on one side of the top of the bottom plate. The ramp is fixedly arranged on one side of the detection platform. Baffles are fixedly arranged on the tops of both the detection platform and the ramp. The ramp is installed at the bottom of the product conveyor, and the top end of the ramp is flush with the bottom of the product conveyor. By installing the ramp at the bottom of the product conveyor, it is convenient for the products on the product conveyor to slide along the inclined surface of the ramp onto the top of the detection platform. Since the weights of different products are different, the positions where the products slide onto the detection platform through the ramp are also different.

[0009] Preferably, the robotic arm includes a microprocessor equipped with a DCS control system, a CCD camera and an electric push rod controlled by the microprocessor. The microprocessor is fixedly connected to the moving end of the electric push rod. The CCD camera is installed at the bottom of the microprocessor. By using the electric push rod, the length of the entire robotic arm can be controlled to facilitate the CCD camera to take pictures. Moreover, through the microprocessor, the CCD camera can be intelligently controlled to take pictures, achieving the function of automatic shooting.

[0010] Preferably, cross plates are fixedly arranged on both the front side and the rear side of the moving base. Two rolling balls are movably connected to one side of each of the two cross plates close to the moving frame. The rolling balls are in contact with the inner wall of the moving frame. One end of each of the two cross plates is inserted with a plug rod. The plug rod is arranged between the two rolling balls. A spring is fixedly arranged at one end of the plug rod inserted into the cross plate. The spring is fixedly connected to the inside of the cross plate. Touch switches are arranged in both the front inner wall and the rear inner wall of the moving frame. The touch switches are arranged on one side of the moving frame. The front side and the rear side of the moving frame are both transparent. By using the contact between the plug rod and the touch switch, the moving of the moving frame can be automatically controlled, and the light-shielding component can be controlled to be inserted into the moving frame for light shielding.

[0011] Preferably, arc-shaped grooves are formed in both the front inner wall and the rear inner wall of the moving frame. The touch switches are located inside the arc-shaped grooves. One end of the plug rod is inserted into the arc-shaped groove to be in contact with the touch switch. One end of the plug rod is adapted to the arc-shaped groove, so that the contact between the plug rod and the touch switch can be facilitated.

[0012] Preferably, the first transmission mechanism includes two belt pulleys. Both the two belt pulleys are fixedly arranged at the rear end of the second threaded rod. A belt is arranged between the two belt pulleys. A second motor is arranged at the rear end of one of the second threaded rods. The output shaft of the second motor is fixedly connected to the rear end of the second threaded rod. By using the second motor, the belt pulleys and the belt, the two second threaded rods can be driven to rotate simultaneously.

[0013] Preferably, the second transmission mechanism includes a third motor. The third motor is arranged on the top of the third threaded rod. The output shaft at the bottom of the third motor is fixedly connected to the top end of the third threaded rod. Round rods are arranged on both the front side and the rear side of the third threaded rod. The bottom ends of the two round rods are fixedly connected to the top of the moving frame. The top ends of the two round rods are fixedly connected to the same support plate. The top end of the third threaded rod penetrates through the support plate and extends out of the top of the support plate. The third threaded rod is movably connected to the support plate through a bearing. The light-shielding component is arranged at the bottom of the support plate. By using the third motor, the light-shielding component can be driven to move up and down, and the arranged round rods can guide the movement of the light-shielding component.

[0014] Preferably, a first motor is arranged at the front end of the first threaded rod. The output shaft of the first motor is fixedly connected to the front end of the first threaded rod. A first groove is formed in the middle position at the top of the bottom plate. The moving base is inserted into the first groove. By arranging the first motor, the first motor can be driven to rotate, so that the moving base and the robotic arm can be driven to move.

[0015] Preferably, support legs are provided at the four corners of the bottom of the bottom plate, and the top ends of the support legs are fixedly connected to the bottom of the bottom plate. By using the support legs, the bottom plate can be supported above the ground, and the support legs are arranged at the four corners of the bottom of the bottom plate to evenly bear the gravity on the top, improving the stability of the present invention.

[0016] In the above technical solution, the technical effects and advantages provided by the present invention are as follows:

[0017] 1. By installing a movable moving frame outside the robotic arm and inserting the light-shielding component into the moving frame for light shielding, it is possible to avoid being affected by changes in external light. Moreover, multiple fill lights are installed inside the moving frame to provide supplementary lighting to supplement the light required for shooting, thereby ensuring the accuracy of the image information obtained by the robotic arm.

[0018] 2. By installing two touch switches inside the moving frame and using a spring to push the insertion rod into contact with the touch switches, it is possible to automatically control the second motor to stop working and the third motor to start working, thereby automatically controlling the moving frame to stop moving and the light-shielding component to be inserted into the moving frame for light shielding.

[0019] 3. By installing a moving base at the bottom of the robotic arm and threading the first threaded rod with the moving base, it is possible to drive the moving base to move by using the first threaded rod, so as to facilitate the detection of products staying at different positions on the top of the detection platform, improving the practicality of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments recorded in the present invention, and those of ordinary skill in the art can also obtain other drawings based on these drawings.

[0021] Figure 1 It is the left view of the present invention;

[0022] Figure 2 It is the right view of the present invention;

[0023] Figure 3 It is the structural schematic diagram of the robotic arm of the present invention;

[0024] Figure 4 It is the structural schematic diagram of the light-shielding component inserted into the moving frame of the present invention;

[0025] Figure 5 It is the cross-sectional view of the moving frame and the light-shielding component of the present invention;

[0026] Figure 6For the present invention Figure 5 Enlarged view of A in

[0027] Figure 7 Cross-sectional view of the moving frame of the present invention

[0028] Figure 8 For the present invention Figure 7 Enlarged view of B in

[0029] Figure 9 Schematic structural diagram of the robotic arm and the bottom plate of the present invention

[0030] Explanation of reference numerals

[0031] 1 Bottom plate, 2 Detection platform, 3 Ramp, 4 First threaded rod, 5 Moving base, 6 Robotic arm, 7 CCD camera, 8 First groove, 9 Second threaded rod, 10 Moving frame, 11 Light-shielding component, 12 Third threaded rod, 13 Second groove, 14 Fill light, 15 Cross plate, 16 Ball, 17 Insert rod, 18 Tactile switch, 19 Arc-shaped groove, 20 Round rod, 21 Support plate, 22 Pulley, 23 Belt, 24 First motor, 25 Second motor, 26 Third motor, 27 Baffle, 28 Support leg, 29 Microprocessor, 30 Electric push rod, 31 Spring Detailed implementation manners

[0032] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings

[0033] The present invention provides as shown in Figure 1 , 3A robot vision detection device based on a DCS control system as shown in Fig. -5, including a bottom plate 1. At the four corners of the bottom of the bottom plate 1, there are support legs 28. The top ends of the support legs 28 are fixedly connected to the bottom of the bottom plate 1. By using the support legs 28, the bottom plate 1 can be supported above the ground, and the support legs 28 are arranged at the four corners of the bottom of the bottom plate 1 to evenly bear the gravity on the top, improving the stability of the present invention. On one side of the top of the bottom plate 1, there is a detection platform mechanism for receiving products. In the middle position inside the bottom plate 1, there is a first threaded rod 4 rotatably connected by a bearing. At the front end of the first threaded rod 4, there is a first motor 24. The output shaft of the first motor 24 is fixedly connected to the front end of the first threaded rod 4. At the middle position of the top of the bottom plate 1, there is a first groove 8. A moving base 5 is inserted into the first groove 8. By setting the first motor 24, it can drive the first motor 24 to rotate, thereby driving the moving base 5 and the robotic arm 6 to move. One end of the first threaded rod 4 passes through the bottom plate 1 and extends to the front side of the bottom plate 1. The outer end of the first threaded rod 4 is threadedly connected to the moving base 5. On the top of the moving base 5, there is a robotic arm 6 fixedly provided. The robotic arm 6 includes a microprocessor 29 equipped with a DCS control system and a CCD camera 7 and an electric push rod 30 controlled by the microprocessor 29. The microprocessor 29 is fixedly connected to the moving end of the electric push rod 30. The CCD camera 7 is installed at the bottom of the microprocessor 29. By using the electric push rod 30, the length of the entire robotic arm 6 extending out can be controlled to facilitate the CCD camera 7 to take pictures. Moreover, through the microprocessor 29, the CCD camera 7 can be intelligently controlled to take pictures, realizing the function of automatic shooting. At the outer end of the robotic arm 6, there is a moving light-shielding mechanism. By using this shielding mechanism, the light around the robotic arm 6 can be blocked when the robotic arm 6 is working. Moreover, by rotating the first threaded rod 4, the moving base 5 and the robotic arm 6 can also be driven to move, so that the robotic arm 6 can be moved to one side of the detection platform mechanism to facilitate taking the image information of the product.

[0034] As Figure 1 , 2, as shown in Figures 4, 5, and 7, in order to block the light outside the robotic arm 6 and create an environment suitable for shooting, the moving light-shielding mechanism includes a moving frame 10. The moving frame 10 covers the outside of the bottom plate 1. There are two second threaded rods 9 at the bottom of the moving frame 10. The second threaded rods 9 penetrate through the moving frame 10 and are threadedly connected to the moving frame 10. Both ends of the second threaded rods 9 are movably connected to the bottom plate 1 through bearings. The rear ends of the second threaded rods 9 penetrate through the bottom plate 1 and extend out of the rear side of the bottom plate 1. There is a first transmission mechanism between the two second threaded rods 9. A light-shielding component 11 is inserted into the moving frame 10. By using the light-shielding component 11 to block the light passing through the moving frame 10, the influence of external light changes on the shooting of the CCD camera 7 can be avoided. Moreover, in order to facilitate observing the situation inside the moving frame 10 from the outside, the front and rear sides of the moving frame 10 are both set to be transparent. The light-shielding component 11 includes four vertical plates, and the tops of the four vertical plates are fixedly connected together by a cross-shaped plate. A third threaded rod 12 is threadedly connected to the middle position of the cross-shaped plate. There is a second transmission mechanism at the top of the third threaded rod 12 to drive its rotation. A plurality of supplementary lights 14 are fixedly provided on the front side, rear side, and top inside the moving frame 10. By setting the supplementary lights 14, the light required for shooting can be supplemented. Moreover, the light positions set in the present invention are fixed and will not affect the shooting result. Furthermore, the accuracy of the image information obtained by the CCD camera 7 can be ensured. In order to facilitate the up and down movement of the light-shielding component 11, a plurality of second grooves 13 are opened inside the moving frame 10, and the vertical plates are inserted into the second grooves 13.

[0035] In order to be able to drive the two second threaded rods 9 to rotate simultaneously, as Figure 2 shown, the first transmission mechanism includes two belt pulleys 22. Both belt pulleys 22 are fixedly provided at the rear ends of the second threaded rods 9. There is a belt 23 between the two belt pulleys 22. A second motor 25 is provided at the rear end of one of the second threaded rods 9. The output shaft of the second motor 25 is fixedly connected to the rear end of the second threaded rod 9. By using the second motor 25, belt pulleys 22, and belt 23, the two second threaded rods 9 can be driven to rotate simultaneously.

[0036] As Figure 2As shown, the second transmission mechanism includes a third motor 26. By using the third motor 26, the light-shielding component 11 can be driven to move up and down. The third motor 26 is arranged at the top of the third threaded rod 12. The output shaft at the bottom of the third motor 26 is fixedly connected to the top end of the third threaded rod 12. In order to ensure that the light-shielding component 11 moves in the vertical direction, round rods 20 are arranged on the front side and the rear side of the third threaded rod 12. The bottom ends of the two round rods 20 are fixedly connected to the top of the moving frame 10. The top ends of the two round rods 20 are fixedly connected to the same support plate 21. The top end of the third threaded rod 12 penetrates through the support plate 21 and extends out of the top of the support plate 21. The third threaded rod 12 is movably connected to the support plate 21 through a bearing. The light-shielding component 11 is arranged at the bottom of the support plate 21. Moreover, the arranged round rods 20 can guide the movement of the light-shielding component 11.

[0037] In order to conveniently move the product to be detected to a suitable position, as Figure 1 、 2 As shown in Figures 5 and 9, the detection platform mechanism includes a detection platform 2 and a ramp 3. The detection platform 2 is fixedly arranged on one side of the top of the bottom plate 1. The ramp 3 is fixedly arranged on one side of the detection platform 2. And baffles 27 are fixedly arranged on the tops of the detection platform 2 and the ramp 3. The ramp 3 is installed at the bottom of the product conveyor. The top end of the ramp 3 is flush with the bottom of the product conveyor. By installing the ramp 3 at the bottom of the product conveyor, it is convenient for the products on the product conveyor to slide along the inclined surface of the ramp 3 onto the top of the detection platform 2. Since the weights of different products are different, the positions where the products slide onto the detection platform 2 through the ramp 3 are also different. Therefore, it is necessary to use the first threaded rod 4 to move the robotic arm 6 to a suitable position for taking pictures.

[0038] As Figure 5 、 6As shown in FIGS. 7 and 8, horizontal plates 15 are fixedly provided on both the front side and the rear side of the moving base 5. Two rolling balls 16 are movably connected to one side of each of the two horizontal plates 15 close to the moving frame 10. The rolling balls 16 are in contact with the inner wall of the moving frame 10. One end of each of the two horizontal plates 15 is inserted with an insertion rod 17. The insertion rod 17 is arranged between the two rolling balls 16. A spring 31 is fixedly provided at one end of the insertion rod 17 inserted into the inside of the horizontal plate 15. The spring 31 is fixedly connected to the inside of the horizontal plate 15. Touch switches 18 are provided in both the front inner wall and the rear inner wall of the moving frame 10. The touch switches 18 have a delay function and can automatically turn off after the light-shielding component 11 moves to the bottom end and the CCD camera 7 takes a picture in contact. The touch switches 18 are arranged on one side of the moving frame 10. By using the contact between the insertion rod 17 and the touch switches 18, the moving of the moving frame 10 can be automatically controlled, and the light-shielding component 11 can be controlled to be inserted into the moving frame 10 for light shielding. In order to facilitate the contact between the insertion rod 17 and the touch switches 18, arc-shaped grooves 19 are formed on both the front inner wall and the rear inner wall of the moving frame 10. The touch switches 18 are located inside the arc-shaped grooves 19. One end of the insertion rod 17 is inserted into the arc-shaped groove 19 to contact the touch switch 18. One end of the insertion rod 17 is adapted to the arc-shaped groove 19, so as to facilitate the contact between the insertion rod 17 and the touch switches 18.

[0039] During the operation of the present invention, when it is necessary to detect a product, the first motor 24 is started, and the first motor 24 drives the first threaded rod 4 to rotate inside the bottom plate 1. Since the moving base 5 is threadedly connected to the first threaded rod 4, the first threaded rod 4 can drive the moving base 5 to move towards the side close to the detection platform mechanism, so that the robotic arm 6 can be moved to one side of the detection platform mechanism to facilitate the CCD camera 7 to take pictures. When the robotic arm 6 drives the CCD camera 7 to move directly above the product, the microprocessor 29 will control the first motor 24 to turn off, and then automatically start the second motor 25. The second motor 25 drives one of the second threaded rods 9 to rotate. Since a pulley 22 and a belt 23 are installed between the two second threaded rods 9, the second motor 25 can drive the two second threaded rods 9 to rotate simultaneously. Moreover, since the moving frame 10 is threadedly connected to the second threaded rod 9, the second threaded rod 9 can drive the moving frame 10 to move during rotation until the moving frame 10 is moved to the top of the robotic arm 6. Then, the balls 16 on the front and rear cross plates 15 of the moving base 5 will contact the inner wall of the moving frame 10 until the insertion rod 17 moves into the arc-shaped groove 19, so that the originally compressed spring 31 will push the insertion rod 17 to contact the touch switch 18, thereby enabling the insertion rod 17 to activate the touch switch 18 and controlling the second motor 25 to stop working through the touch switch 18. At the same time, the third motor 26 and the fill light 14 are controlled to start working, so that the moving frame 10 can stop moving further. Moreover, after the third motor 26 works, it can drive the third threaded rod 12 to rotate, so that the third threaded rod 12 can drive the light-shielding component 11 threadedly connected to it to move downward, so that the light-shielding component 11 can be inserted into the second groove 13 inside the moving frame 10, so that the light-shielding component 11 can block the surroundings of the product. At this time, the fill light 14 works to emit light to supplement the light required for the CCD camera 7 to take pictures. During the shooting, the microprocessor 29 controls the CCD camera 7 to take pictures, and there is no changing light during the shooting process, so as to ensure the accuracy of the captured picture information.

[0040] Only some exemplary embodiments of the present invention have been described by way of illustration above. Undoubtedly, for those of ordinary skill in the art, without departing from the spirit and scope of the present invention, the described embodiments can be modified in various different ways. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A robot vision detection device based on a DCS control system, comprising a bottom plate (1), characterized in that: On one side of the top of the bottom plate (1), there is a detection platform mechanism for receiving products. In the middle position inside the bottom plate (1), a first threaded rod (4) is movably connected through a bearing. One end of the first threaded rod (4) penetrates through the bottom plate (1) and extends to the front side of the bottom plate (1). A moving base (5) is threadedly connected to the outer end of the first threaded rod (4). A robotic arm (6) is fixedly arranged on the top of the moving base (5), and a moving light-shielding mechanism is arranged at the outer end of the robotic arm (6). The moving light-shielding mechanism includes a moving frame (10). The moving frame (10) covers the outside of the bottom plate (1). Two second threaded rods (9) are arranged at the bottom of the moving frame (10). The second threaded rods (9) penetrate through the moving frame (10) and are threadedly connected to the moving frame (10). Both ends of the second threaded rods (9) are movably connected to the bottom plate (1) through bearings. The rear ends of the second threaded rods (9) penetrate through the bottom plate (1) and extend to the rear side of the bottom plate (1). A first transmission mechanism is arranged between the two second threaded rods (9). A light-shielding component (11) is inserted into the moving frame (10). The light-shielding component (11) includes four vertical plates, and the tops of the four vertical plates are fixedly connected together through a cross-shaped plate. A third threaded rod (12) is threadedly connected to the middle position of the cross-shaped plate. A second transmission mechanism for driving its rotation is arranged at the top of the third threaded rod (12). A plurality of supplementary lights (14) are fixedly arranged on the front side, rear side, and top inside the moving frame (10). A plurality of second grooves (13) are formed inside the moving frame (10), and the vertical plates are inserted into the second grooves (13). Horizontal plates (15) are fixedly arranged on the front side and rear side of the moving base (5). Two balls (16) are movably connected to one side of each of the two horizontal plates (15) close to the moving frame (10). The balls (16) are in contact with the inner wall of the moving frame (10). One end of each of the two horizontal plates (15) is inserted with a plug rod (17). The plug rod (17) is arranged between the two balls (16). One end of the plug rod (17) inserted into the horizontal plate (15) is fixedly provided with a spring (31). The spring (31) is fixedly connected to the inside of the horizontal plate (15). Touch switches (18) are arranged in the front wall and rear wall inside the moving frame (10). The touch switches (18) are arranged on one side of the moving frame (10). The front side and rear side of the moving frame (10) are both transparent. Arc-shaped grooves (19) are formed on the front wall and rear wall inside the moving frame (10). The touch switches (18) are located inside the arc-shaped grooves (19). One end of the plug rod (17) is inserted into the arc-shaped groove (19) to contact the touch switch (18).

2. The robot vision detection device based on the DCS control system according to claim 1, wherein: The detection platform mechanism includes a detection platform (2) and a ramp (3). The detection platform (2) is fixedly arranged on one side of the top of the bottom plate (1). The ramp (3) is fixedly arranged on one side of the detection platform (2), and baffles (27) are fixedly arranged on the tops of both the detection platform (2) and the ramp (3).

3. The robot vision detection device based on the DCS control system according to claim 1, characterized in that: The robotic arm (6) includes a microprocessor (29) equipped with a DCS control system, a CCD camera (7) and an electric push rod (30) controlled by the microprocessor (29). The microprocessor (29) is fixedly connected to the mobile end of the electric push rod (30), and the CCD camera (7) is installed at the bottom of the microprocessor (29).

4. The robot vision detection device based on the DCS control system according to claim 1, characterized in that: The first transmission mechanism includes two belt pulleys (22). Both of the two belt pulleys (22) are fixedly arranged at the rear end of the second threaded rod (9). A belt (23) is provided between the two belt pulleys (22). A second motor (25) is provided at the rear end of one of the second threaded rods (9). The output shaft of the second motor (25) is fixedly connected to the rear end of the second threaded rod (9).

5. A robot vision detection device based on a DCS control system according to claim 1, characterized in that: The second transmission mechanism includes a third motor (26). The third motor (26) is arranged at the top of the third threaded rod (12). The output shaft at the bottom of the third motor (26) is fixedly connected to the top end of the third threaded rod (12). Round rods (20) are provided on the front side and the rear side of the third threaded rod (12). The bottom ends of the two round rods (20) are fixedly connected to the top of the moving frame (10). The top ends of the two round rods (20) are fixedly connected to the same support plate (21). The top end of the third threaded rod (12) penetrates through the support plate (21) and extends out of the top of the support plate (21). The third threaded rod (12) is movably connected to the support plate (21) through a bearing. The light-shielding component (11) is arranged at the bottom of the support plate (21).

6. The robot vision detection device based on the DCS control system according to claim 1, characterized in that: A first motor (24) is provided at the front end of the first threaded rod (4). The output shaft of the first motor (24) is fixedly connected to the front end of the first threaded rod (4). A first groove (8) is formed at the middle position of the top of the bottom plate (1). The moving base (5) is inserted into the first groove (8).

7. The robot vision detection device based on the DCS control system according to claim 1, characterized in that: Support legs (28) are provided at the four corners of the bottom of the bottom plate (1). The top ends of the support legs (28) are fixedly connected to the bottom of the bottom plate (1).

8. The robot vision detection device based on the DCS control system according to claim 1, wherein: The ramp (3) is installed at the bottom of the product conveyor, and the top end of the ramp (3) is flush with the bottom of the product conveyor.

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