A 3D visual identification and measurement intelligent device for complex parts

Abstract

The application discloses a kind of 3D visual identification and measurement intelligent device for complex parts.A kind of 3D visual identification and measurement intelligent device for complex parts, including workpiece, belt conveying line and the AGV feeding device capable of conveying workpiece to the one end of belt conveying line, is provided with feeding robot on the one end of belt conveying line close to AGV feeding device, is provided with detection table on the other end of belt conveying line, is provided with welding table on the side of detection table away from belt conveying line, and, is provided with 3D vision device on the side of belt conveying line close to detection table, is provided with carrying robot on the side of belt conveying line, and is provided with gripper device on carrying robot, is provided with qualified conveying line and repair conveying line on the lower end of carrying robot.The 3D visual identification and measurement intelligent device for complex parts can realize full-automatic production and detection, which is beneficial to improve product quality and reduce labor intensity and protect the safety of workers.

Description

TECHNICAL FIELD

[0001] The present application relates to a production conveying line grasping and placing device, in particular to a 3D visual recognition and measurement intelligent device for complex parts, which can realize full-automatic production and detection of the production line, is beneficial to improve product quality, and can reduce labor intensity of workers and protect life safety of workers. BACKGROUND

[0002] At present, with the increasing scale of industrial production lines, the requirement for intelligent production lines is higher and higher. Robots only complete point-to-point tasks. In the conveying process of some complex parts, the posture of the parts cannot be strictly limited, and positioning usually needs to rely on manual or clamps. As a result, the cost of the production line is increased, which cannot meet the requirements of modern production lines for high flexibility. In addition, after the parts are welded, the quality of the welds of the products is generally detected by manual detection and machine cooperation, which cannot realize high-precision and high-intelligent detection, and cannot meet the requirements of modern production lines for high rhythm and high intelligence.

[0003] The main action of traditional complex component workpiece transfer and determination is: manual feeding, conveying to the designated position through the conveyor, correcting the workpiece position through the mechanism or manual, placing the component at the designated position by the robot, conveying to the next station through the mechanism or manual after correcting the position, but such a way usually needs a large number of manual stations, and the workers have high labor intensity and certain danger, in which case, the transfer robot is difficult to complete the work task smoothly and efficiently, and cannot complete the full automatic production under high rhythm, and after the welding of the components is completed, the complex components need to be detected, due to the complexity of the product, the general measuring machine cannot accurately detect the quality, the traditional method is to realize the detection of the complex components by the cooperation of manual and measuring machine, but such a way is low in efficiency, and is subject to the level of manual process, and unqualified products are easily outflowed; the Chinese utility model patent with the patent name of an intelligent recognition and grabbing device, the patent number of ZL201420274164.9 and the publication date of 2014-10-15 relates to the field of robots and their tools, a servo motor is arranged in the inside of the hand tool frame, a servo motor connecting plate is arranged on the side of the servo motor, a coupling is arranged at the right end of the servo motor, a lead screw and a lead screw slide block are arranged at the right end of the coupling, a position sensor and a force sensor are respectively arranged at the lower two sides of the inside of the hand tool frame, the position sensor is connected with the hand tool frame through a displacement sensor connecting plate, the force sensor is connected with the lead screw slide block through a force sensor connecting plate, and a camera is arranged on the hand tool frame. It can overcome the drawbacks of the prior art, has compact and reasonable structure design, is simple to operate and convenient to use, improves the assembly rhythm, enhances the operability of the robot under adverse environmental conditions, can grab different types of products, and is widely applied in the industry. However, the patent only has the functions of basic recognition, grabbing and assembling components, lacks accurate detection, screening, returning and repairing operations for complex components, and is single in function, cannot well realize the replacement of manual operation by the robot, cannot effectively reduce the manual stations, and is low in work efficiency, and cannot meet the requirements of high rhythm and high intelligence of modern production lines.

[0004] How to solve the above problems becomes a technical problem to be solved urgently. SUMMARY

[0005] The purpose of the present application is to provide a 3D visual recognition and measurement intelligent device for complex components, which can realize full automatic production and detection of production lines, is beneficial to improve product quality and can reduce labor intensity of workers and protect safety of workers.

[0006] To achieve the above purpose, the present application adopts the following technical scheme:

[0007] The application provides a 3D visual identification and measurement intelligent device for complex parts, which comprises a workpiece, a belt conveying line and an AGV feeding device capable of conveying the workpiece to one end of the belt conveying line, a feeding robot is arranged at the end of the belt conveying line close to the AGV feeding device, a detection table is arranged at the other end of the belt conveying line, a welding table is arranged on the side away from the detection table of the belt conveying line, a 3D visual device is arranged above the belt conveying line close to the detection table, and a carrying robot is arranged on the side of the belt conveying line, wherein a gripper device is arranged on the carrying robot, a qualified conveying line and a repair conveying line are arranged at the lower end of the carrying robot.

[0008] Further, the belt conveying line comprises a mounting frame, a flat belt is arranged on the mounting frame along the length direction of the mounting frame, a motor is arranged at one end of the flat belt close to the feeding robot, the output shaft of the motor is connected with a main transmission shaft, a slave transmission shaft is arranged at the other end of the flat belt, a sensor support is arranged on the side of the mounting frame close to the slave transmission shaft, and a first sensor capable of sensing the position of the workpiece on the belt conveying line is arranged on the sensor support.

[0009] Further, the gripper device comprises a first flange, an octagonal pipe is arranged on the first flange, the first flange and the octagonal pipe combine to form a square frame structure, a gas circuit control assembly capable of realizing gas circuit control of the gripper device is arranged on one side of the octagonal pipe, an angle seat is arranged on the octagonal pipe, a clamping cylinder is arranged on the angle seat, a pressing block is arranged on the clamping cylinder, and a supporting block capable of cooperating with the pressing block to complete clamping action is further arranged on the angle seat.

[0010] Further, a double-guide-rod cylinder is further arranged on the angle seat, a positioning pin is arranged on the movable end of the double-guide-rod cylinder, and a second sensor capable of sensing the part is further arranged on the angle seat.

[0011] Further, the 3D visual device comprises a stand column arranged on one side of the belt conveying line, a mounting support is arranged on the stand column, a first mounting base is arranged on one side of the mounting support, a first lead screw is arranged in the first mounting base, a first servo motor is arranged at one end of the first mounting base, the first servo motor is connected with the first lead screw through a first coupling, a first sliding plate capable of sliding left and right along with the first lead screw is arranged at the sliding end of the first lead screw, a first sensing sheet is arranged on the first sliding plate, a drag chain bottom plate is arranged above the mounting support, a drag chain mounting plate is arranged on the first sliding plate, and the drag chain bottom plate and the drag chain mounting plate are connected through a drag chain, wherein one end of the drag chain is arranged on the drag chain bottom plate, and the other end of the drag chain is arranged on the drag chain mounting plate.

[0012] Further, a first sensing mount is arranged on one side of the first mounting base, and a third sensor and a fourth sensor capable of sensing the position of the first sensing sheet are arranged on the first sensing mount.

[0013] Further, a second mounting base capable of moving with the first sliding plate is arranged on the first sliding plate, a second lead screw is arranged in the second mounting base, a second servo motor is arranged at one end of the second mounting base, the second servo motor is connected with the second lead screw through a second coupling, a second sliding plate capable of moving up and down with the second lead screw is arranged at the sliding end of the second lead screw, and a visual detection box and a second sensing sheet are arranged on the second sliding plate.

[0014] Further, a second sensing mount is arranged on one side of the second mounting base, and a fifth sensor and a sixth sensor capable of sensing the position of the second sensing sheet are arranged on the second sensing mount.

[0015] Due to the above structure, the application has the following beneficial effects:

[0016] The AGV feeding device can transport the workpiece to the vicinity of the belt conveying line, and then the feeding robot can grab the workpiece to the belt conveying line, so that the automatic grabbing and placing of the robot device are realized, and the work efficiency is improved. Therefore, the 3D vision device can identify and determine the spatial position of the workpiece on the belt conveying line and transmit it to the carrying robot. The carrying robot grabs the workpiece to the welding table through the gripper device for process welding. After the welding is completed, the carrying robot grabs the workpiece to the detection table. At this time, the 3D vision device continues to measure the workpiece on the detection table. If the workpiece welding quality is qualified, the 3D vision device transmits a signal to the carrying robot, so that the carrying robot grabs the workpiece to the qualified conveying line. The qualified conveying line transports the workpiece to the next process procedure. If the workpiece welding quality is unqualified, the 3D vision device transmits a signal to the carrying robot, so that the carrying robot grabs the workpiece to the repair conveying line. The repair conveying line transports the workpiece to the initial station for repair. The application can replace manpower, reduce the labor intensity of workers, reduce the work danger degree of workers, and protect the life safety of workers. At the same time, the quality control of the workpiece is realized by using the function of the 3D vision device, which can further improve the yield rate and quality of products, realize the full-automatic production and detection of the production line, and therefore the 3D vision recognition and measurement intelligent device for complex parts can realize the full-automatic production and detection of the production line, which is beneficial to improving product quality and reducing labor intensity of workers and protecting the life safety of workers.

[0017] The present application will become more apparent from the following description when taken in conjunction with the accompanying drawings, which together illustrate embodiments of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0019] Figure 1 Fig. 1 is a schematic diagram of the overall structure of the 3D visual recognition and measurement intelligent device for complex parts according to the present application;

[0020] Figure 2 Fig. 2 is a schematic diagram of the structure of the belt conveying line according to the present application;

[0021] Figure 3 Fig. 3 is a schematic diagram of the structure of the gripper device according to the present application;

[0022] Figure 4 Fig. 4 is a schematic diagram of the overall structure of the 3D visual device according to the present application;

[0023] Figure 5 Fig. 5 is a schematic diagram of the upper structure of the 3D visual device according to the present application; and

[0024] Figure 6 Fig. 6 is a schematic diagram of the lower structure of the 3D visual device according to the present application; Figure 4 Fig. 7 is an enlarged view of part A in Fig. 6. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings of the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0026] Reference should be made to Figures 1-6The application provides a 3D visual identification and measurement intelligent device for complex parts, which comprises a workpiece 100, a belt conveying line 400 and an AGV feeding device 200 capable of conveying the workpiece 100 to one end of the belt conveying line 400, a feeding robot 300 arranged at the end of the belt conveying line 400 close to the AGV feeding device 200, a detection table 800 arranged at the other end of the belt conveying line 400, a welding table 700 arranged at the side of the detection table 800 away from the belt conveying line 400, a 3D visual device 600 arranged above the belt conveying line 400 close to the detection table 800, and a carrying robot 900 arranged at the side of the belt conveying line 400, wherein a gripper device 500 is arranged on the carrying robot 900, a qualified conveying line 1000 and a repair conveying line 1100 are arranged at the lower end of the carrying robot 900; the AGV feeding device 200 can convey the workpiece 100 to one end of the belt conveying line 400, the feeding robot 300 mainly carries the workpiece 100 on the AGV feeding device 200 to the belt conveying line 400, the gripper device 500 can grab the workpiece 100 on the belt conveying line 400, the 3D visual device 600 can identify the posture of the workpiece 100 on the belt conveying line 400 and measure the welding quality of the workpiece 100 on the detection table 800, and the qualified conveying line 1000 and the repair conveying line 1100 mainly realize separate conveying of qualified workpieces and unqualified workpieces.

[0027] In the application, the belt conveying line 400 comprises a mounting frame 401, a flat belt 402 is arranged on the mounting frame 401 along the length direction of the mounting frame 401, a motor 405 is arranged at one end of the flat belt 402 close to the feeding robot 300, the output shaft of the motor 405 is connected with a main transmission shaft 403, a slave transmission shaft 404 is arranged at the other end of the flat belt 402, an inductor support 406 is arranged on the side of the mounting frame 401 close to the slave transmission shaft 404, and a first inductor 407 capable of sensing the position of the workpiece 100 on the belt conveying line 400 is arranged on the inductor support 406; the motor 405 can drive the main transmission shaft 403 to rotate, the flat belt 402 produces friction with the main transmission shaft 403 and the slave transmission shaft 404, the main transmission shaft 403 and the slave transmission shaft 404 move and drive the flat belt 402, so that the linear motion of the flat belt 402 is realized, and the first inductor 407 can sense the position of the workpiece 100 on the belt conveying line 400, so as to control whether the motor 405 stops.

[0028] In the application, the gripper device 500 comprises a first flange 501, an octagonal pipe 502 is arranged on the first flange 501, the first flange 501 and the octagonal pipe 502 combine to form a square frame structure, a gas path control assembly 503 capable of realizing gas path control of the gripper device 500 is arranged on one side of the octagonal pipe 502, an angle seat 504 is arranged on the octagonal pipe 502, a clamping cylinder 505 is arranged on the angle seat 504, a pressing block 506 is arranged on the clamping cylinder 505, and a supporting block 507 capable of cooperating with the pressing block 506 to complete a clamping action is also arranged on the angle seat 504; the square frame structure formed by the octagonal pipe 502 is fixedly installed on the first flange 501, and the gas path control assembly 503 is used for realizing gas path control of the gripper device 500.

[0029] In the application, a double-guide-rod cylinder 508 is also arranged on the angle seat 504, a positioning pin 509 is arranged on the movable end of the double-guide-rod cylinder 508, and a second inductor 510 capable of sensing parts is also arranged on the angle seat 504; the positioning pin 509 is installed on the movable end of the double-guide-rod cylinder 508, so that pin hole positioning of the workpiece 100 can be realized through the extension and retraction of the double-guide-rod cylinder 508, and the second inductor 510 installed on the octagonal pipe 502 is used for sensing whether the workpiece 100 exists.

[0030] In the application, the 3D vision device 600 comprises a stand 601 arranged on one side of the belt conveying line 400, a mounting pillar 602 is arranged on the stand 601, a first mounting base 603 is arranged on one side of the mounting pillar 602, a first lead screw 604 is arranged in the first mounting base 603, a first servo motor 606 is arranged at one end of the first mounting base 603, the first servo motor 606 is connected with the first lead screw 604 through a first coupling 605, a first sliding plate 608 capable of sliding left and right along the first lead screw 604 is arranged at the sliding end of the first lead screw 604, a first inductive sheet 607 is arranged on the first sliding plate 608, a drag chain bottom plate 612 is arranged above the mounting pillar 602, a drag chain mounting plate 613 is arranged on the first sliding plate 608, and the drag chain bottom plate 612 and the drag chain mounting plate 613 are connected together through a drag chain 614, wherein one end of the drag chain 614 is arranged on the drag chain bottom plate 612, and the other end of the drag chain 614 is arranged on the drag chain mounting plate 613; the first sliding plate 608 can slide left and right on the first lead screw 604, and the drag chain bottom plate 612, the drag chain mounting plate 613 and the drag chain 614 can be used for arranging cables of the 3D vision device 600.

[0031] In the application, the first sensing mount 611 is arranged on one side of the first mounting base 603, and the third sensor 609 and the fourth sensor 610 capable of sensing the position of the first sensing sheet 607 are arranged on the first sensing mount 611; the third sensor 609 and the fourth sensor 610 can sense the position of the first sensing sheet 607, so as to determine the left and right positions of the first sliding plate 608.

[0032] In the application, the second mounting base 615 capable of moving with the first sliding plate 608 is arranged on the first sliding plate 608, the second screw rod 616 is arranged in the second mounting base 615, the second servo motor 618 is arranged at one end of the second mounting base 615, the second servo motor 618 is connected with the second screw rod 616 through a second coupling 617, the second sliding plate 620 capable of moving up and down with the second screw rod 616 is arranged at the sliding end of the second screw rod 616, and the visual detection box 624 and the second sensing sheet 619 are arranged on the second sliding plate 620; the second sliding plate 620 can slide up and down with the second screw rod 616, the visual detection box 624 can slide left and right with the first sliding plate 608, and can also slide up and down with the second sliding plate 620.

[0033] In the application, the second sensing mount 623 is arranged on one side of the second mounting base 615, and the fifth sensor 621 and the sixth sensor 622 capable of sensing the position of the second sensing sheet 619 are arranged on the second sensing mount 623; the fifth sensor 621 and the sixth sensor 622 can sense the position of the second sensing sheet 619, so as to determine the up and down positions of the second sliding plate 620.

[0034] In specific use of the present application, the AGV feeding device 200 transports the workpiece 100 to the vicinity of the belt conveying line 400, then the feeding robot 300 grabs the workpiece 100 onto the belt conveying line 400, the 3D vision detection box 624 on the 3D vision device 600 moves to the rightmost end and identifies and determines the spatial position of the workpiece 100 on the belt conveying line 400, then transmits the signal to the carrying robot 900, the carrying robot 900 grabs the workpiece 100 to the welding table 700 through the gripper device 500 for process welding, after welding, the carrying robot 900 grabs the workpiece 100 to the detection table 800, at this time the vision detection box 624 on the 3D vision device 600 moves above the detection table 800, and measures the workpiece 100 on the detection table 800, at this time, if the welding quality of the workpiece 100 is qualified, the 3D vision device 600 transmits the spatial position of the workpiece 100 to the carrying robot 900, the carrying robot 900 grabs the workpiece 100 to the qualified conveying line 1000, the qualified conveying line 1000 conveys the workpiece 100 to the next process procedure, if the welding quality of the workpiece 100 is unqualified, the 3D vision device 600 transmits the spatial position of the workpiece 100 to the carrying robot 600, the carrying robot 600 grabs the workpiece 100 to the repair conveying line 1100, and the repair conveying line 1100 conveys the workpiece 100 to the initial station for repair.

[0035] The preferred embodiments of the present application are described above. It should be understood that the present application is not limited to the specific embodiments described above, and that the devices and structures not described in detail should be understood as being implemented in the ordinary way in the art; any person skilled in the art can make many possible changes and modifications to the technical solutions of the present application, or modify equivalent embodiments, without departing from the scope of the technical solutions of the present application, which does not affect the essential content of the present application. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present application, without departing from the scope of the technical solutions of the present application, still belongs to the scope of protection of the technical solutions of the present application.

Claims

1. A 3D vision recognition and measurement intelligent device for complex parts, characterized in that: The device comprises a workpiece (100), a belt conveying line (400), and an AGV feeding device (200) capable of conveying the workpiece (100) to one end of the belt conveying line (400), a feeding robot (300) is arranged at the end of the belt conveying line (400) close to the AGV feeding device (200), a detection table (800) is arranged at the other end of the belt conveying line (400), a welding table (700) is arranged on the side away from the detection table (800) of the belt conveying line (400), a 3D vision device (600) is arranged above the belt conveying line (400) close to the detection table (800), a carrying robot (900) is arranged on the side of the belt conveying line (400), the carrying robot (900) is provided with a gripper device (500), a qualified conveying line (1000) and a repair conveying line (1100) are arranged at the lower end of the carrying robot (900); The 3D vision device (600) comprises a stand (601) arranged on one side of the belt conveying line (400), an installation support column (602) is arranged on the stand (601), a first installation base (603) is arranged on one side of the installation support column (602), a first lead screw (604) is arranged in the first installation base (603), a first servo motor (606) is arranged at one end of the first installation base (603), the first servo motor (606) is connected with the first lead screw (604) through a first coupling (605), a first sliding plate (608) capable of sliding left and right with the first lead screw (604) is arranged at the sliding end of the first lead screw (604), a first sensing sheet (607) is arranged on the first sliding plate (608), a drag chain bottom plate (612) is arranged above the installation support column (602), a drag chain installation plate (613) is arranged on the first sliding plate (608), the drag chain bottom plate (612) and the drag chain installation plate (613) are connected together through a drag chain (614), wherein one end of the drag chain (614) is arranged on the drag chain bottom plate (612), the other end of the drag chain (614) is arranged on the drag chain installation plate (613); A first sensing installation base (611) is further arranged on one side of the first installation base (603), a third sensor (609) and a fourth sensor (610) capable of sensing the position of the first sensing sheet (607) are arranged on the first sensing installation base (611); A second mounting base (615) capable of moving with the first sliding plate (608) is further arranged on the first sliding plate (608), a second lead screw (616) is arranged in the second mounting base (615), a second servo motor (618) is arranged at one end of the second mounting base (615), the second servo motor (618) is connected with the second lead screw (616) through a second coupling (617), a second sliding plate (620) capable of moving up and down with the second lead screw (616) is arranged at the sliding end of the second lead screw (616), a visual inspection box (624) and a second sensing sheet (619) are arranged on the second sliding plate (620); A second sensing mounting base (623) is further arranged on one side of the second mounting base (615), a fifth inductor (621) and a sixth inductor (622) capable of sensing the position of the second sensing sheet (619) are arranged on the second sensing mounting base (623).

2. The 3D vision recognition and measurement intelligent device for complex parts of claim 1, wherein: The belt conveying line (400) comprises a mounting frame (401), a flat belt (402) is arranged on the mounting frame (401) along the length direction of the mounting frame (401), a motor (405) is arranged at one end of the flat belt (402) close to the feeding robot (300), the output shaft of the motor (405) is connected with a main transmission shaft (403), a slave transmission shaft (404) is arranged at the other end of the flat belt (402), an inductor support (406) is arranged on the side of the mounting frame (401) close to the slave transmission shaft (404), and the inductor support (406) is provided with a first inductor (407) capable of sensing the position of the workpiece (100) on the belt conveying line (400).

3. The 3D vision recognition and measurement smart device for complex parts of claim 2, wherein: The gripper device (500) comprises a first flange (501), an octagonal tube (502) is arranged on the first flange (501), the first flange (501) and the octagonal tube (502) are combined to form a square frame structure, an air path control assembly (503) capable of realizing air path control of the gripper device (500) is arranged on one side of the octagonal tube (502), an angle seat (504) is arranged on the octagonal tube (502), a clamping cylinder (505) is arranged on the angle seat (504), a pressing block (506) is arranged on the clamping cylinder (505), and a supporting block (507) capable of cooperating with the pressing block (506) to complete a clamping action is further arranged on the angle seat (504).

4. The 3D vision recognition and measurement smart device for complex parts of claim 3, wherein: A double-guide-rod cylinder (508) is further arranged on the angle seat (504), a positioning pin (509) is arranged at the movable end of the double-guide-rod cylinder (508), and a second inductor (510) capable of sensing a part is further arranged on the angle seat (504).

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