An on-line vision inspection system for robotic sanding

Abstract

The application discloses an online visual detection system for robot polishing and relates to the technical field of online detection, which comprises a whole assembly, wherein the whole assembly comprises a bottom plate, support frames fixedly connected to both sides of the top end of the bottom plate, and a rotating assembly fixedly connected to the top end of the bottom plate; the dust removal assembly comprises a connecting shaft fixedly connected to one side of a belt pulley, a piston cylinder slidingly connected to the surface of a piston, and fixed plates fixedly connected to both sides of the piston cylinder; the inner wall of the fixed shaft is provided with springs, and the end, away from the fixed shaft, of each spring is fixedly connected with a connecting shaft. The application drives the reciprocating movement of the moving block through the rotation of the disc, drives the movement of the piston rod through the connecting rod, and drives the blowing of the piston in the piston cylinder. When the polishing piece is conveyed, the blowing of the piston cylinder can effectively clean the dust on the surface of the polishing piece, prevents the polishing piece from being covered with dust after polishing, and thus affects the visual detection effect.

Description

TECHNICAL FIELD

[0001] The present application relates to the online detection technical field, specifically to an online visual detection system for robot polishing. BACKGROUND

[0002] As an important branch of computer science, machine vision technology has developed rapidly in the past three decades. Because the machine vision system can quickly acquire a large amount of information and automatically process data, it is easy to integrate with design information and processing control information, so in modern automated production processes, the machine vision system is widely used in work condition monitoring, product inspection and quality control fields.

[0003] The machine vision detection system can detect the workpiece without contact, take the detection image by the camera, convert it into a digital signal, and then use advanced computer hardware and software technology to process the image digital signal, so as to obtain the required various target image characteristic values, and realize pattern recognition, coordinate calculation, gray distribution map and other functions on this basis.

[0004] When the existing robot polishes the workpiece, the surface of the workpiece is easy to leave the debris dust left over during polishing. If the visual detection is not cleaned, it is easy to cause inaccurate data when detecting the polished workpiece, affecting the detection effect. At the same time, if the workpiece surface needs to be cleaned by the staff after each polishing, it will affect the work efficiency of the staff.

[0005] Therefore, an online visual detection system for robot polishing is proposed. SUMMARY

[0006] Based on this, the purpose of the present application is to provide an online visual detection system for robot polishing to solve the technical problems raised in the background.

[0007] To achieve the above purpose, the present application provides the following technical scheme: an online visual detection system for robot polishing, comprising a whole assembly, the whole assembly comprising a bottom plate, the bottom plate top end two sides fixedly connected with support frames, two groups of support frames are provided with belt pulleys, and the support frame top end is fixedly connected with a dust removal assembly, the dust removal assembly one side is fixedly connected with a collection assembly, and the bottom plate top end is fixedly connected with a rotating assembly.

[0008] The dust removal assembly comprises a first connecting shaft fixedly connected to one side of the belt pulley, one end of the first connecting shaft away from the belt pulley penetrates through the support frame and is connected and fixed with a disc, one end of the disc away from the first connecting shaft is welded with a round shaft, the surface of the round shaft is slidably connected with a moving block, one end of the moving block away from the round shaft is welded with a first connecting rod, one end of the first connecting rod away from the moving block is fixedly connected with a piston rod, one end of the piston rod away from the first connecting rod is fixed with a piston, the surface of the piston is slidably connected with a piston cylinder, both sides of the piston cylinder are fixedly connected with fixed plates.

[0009] The collecting assembly comprises a baffle fixedly connected to one side of the fixed plate, the top end of the baffle is fixedly connected with a U-shaped connecting block, the inner walls of the U-shaped connecting block are fixedly connected with first spring telescopic rods, one end of the first spring telescopic rods away from the U-shaped connecting block is fixedly connected with a scraper, the scraper is welded with a second connecting rod on one side, and a collecting box fixedly connected to the baffle is arranged directly below the scraper, a fixed shaft is fixedly connected to the surface of the disc, a spring is arranged in the inner wall of the fixed shaft, one end of the spring away from the fixed shaft is fixedly connected with a second connecting shaft.

[0010] As a preferred technical scheme of the online visual detection system for robot polishing, the surface of the belt pulley is rotationally connected with a conveying belt, the top end of the conveying belt is placed with a polishing piece, and the end of the support frame away from the disc is provided with a detection device.

[0011] As a preferred technical scheme of the online visual detection system for robot polishing, the round shaft is arranged at a position away from the center of the disc, a moving groove is formed in the moving block, and the round shaft is slidably connected with the moving block through the moving groove.

[0012] As a preferred technical scheme of the online visual detection system for robot polishing, the fixed plate is fixedly connected with a guide block on one side, the guide block is slidably connected with the moving block, and a plurality of circular grooves are formed in the top end of the piston cylinder.

[0013] As a preferred technical scheme of the online visual detection system for robot polishing, a sliding groove is formed in one side of the baffle, the scraper is slidably connected with the baffle through the sliding groove, a wiping plate is attached to the bottom end of the conveying belt, and the wiping plate is fixedly connected to the inner wall of the support frame.

[0014] As a preferred technical scheme of the online visual detection system for robot polishing, the fixed shaft is slidably connected with the second connecting shaft, and when the fixed shaft performs circumferential motion through the disc, the second connecting shaft is in contact with the second connecting rod.

[0015] As a kind of preferred technical scheme of the online visual detection system for robot polishing of the application, the rotating assembly includes a motor fixedly connected to the top end of the bottom plate, a first base rod fixedly connected to the output end of the motor, a first circular wheel fixedly connected to the surface of the first base rod, a belt rotatably connected to the surface of the first circular wheel, a second circular wheel provided on the inner wall of the belt away from the first circular wheel, a third circular wheel provided between the first circular wheel and the second circular wheel, a second base rod welded at the center position of the third circular wheel, a first gear welded at the bottom end of the second base rod, a second gear provided on the side of the first gear and engaged with the first gear, a threaded screw rod fixedly connected to the center position of the second gear, a threaded sleeve rotatably connected to the surface of the threaded screw rod, and a rotating disc fixedly connected to the top end of the threaded sleeve.

[0016] As a kind of preferred technical scheme of the online visual detection system for robot polishing of the application, the threaded sleeve is slidably connected with a square block, and the surface of the threaded sleeve is fixedly connected with clamping blocks on both sides of the lower end, the inner wall of the square block is provided with clamping grooves matched with the clamping blocks on both sides, and a supporting rod is welded at the bottom end of the square block.

[0017] In summary, the application mainly has the following advantages:

[0018] 1、The moving block moves back and forth by the rotation of the disc, the moving block drives the piston rod to move through the connecting rod, and the piston in the piston cylinder is blown to convey the polishing piece, so that the dust on the surface of the polishing piece can be effectively cleaned by the air blown out of the piston cylinder, preventing the polishing piece from being covered with dust after polishing, thereby affecting the visual detection effect.

[0019] 2、The connecting shaft is rotated by the rotation of the disc, the connecting shaft touches the connecting rod, the connecting rod is stressed to drive the scraper to slide in the sliding groove, the scraper is reset by the first spring telescopic rod, and the moving back and forth cleans the dust on the baffle and collects the dust into the collecting box, preventing the dust from falling on the conveyor belt, and further cleaning the dust on the surface of the conveyor belt by the wiping plate, effectively enhancing the dust cleaning effect.

[0020] 3、The first base rod is rotated by the motor, the second gear drives the threaded screw rod to rotate, the threaded screw rod drives the rotating disc to rotate and rise through the threaded sleeve, the rotating disc drives the polishing piece to rise and rotate at the same time, which can effectively enable the detection device to detect the polishing piece in all directions, effectively enhancing the detection effect. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1The schematic diagram of the overall assembly of the present application;

[0022] Figure 2 The schematic diagram of the internal structure of the overall assembly of the present application;

[0023] Figure 3 The schematic diagram of the dust removal assembly of the present application;

[0024] Figure 4 The schematic diagram of the collection assembly of the present application;

[0025] Figure 5 The schematic diagram of the rotating assembly of the present application

[0026] Figure 6 The schematic diagram of the Figure 5 The enlarged view of A in the above figure.

[0027] In the figure: 100, overall assembly; 110, bottom plate; 120, support frame; 130, belt pulley; 140, conveying belt; 141, polishing piece; 150, detection device;

[0028] 200, dust removal assembly; 210, first connecting shaft; 220, disc; 230, round shaft; 240, moving block; 241, moving groove; 250, first connecting rod; 260, piston rod; 270, piston; 280, piston cylinder; 281, round groove; 290, fixed plate; 291, guide block;

[0029] 300, collection assembly; 310, baffle; 311, chute; 320, U-shaped connecting block; 330, first spring telescopic rod; 340, scraper; 350, second connecting rod; 360, collection box; 370, fixed shaft; 380, spring; 390, second connecting shaft; 3910, wiping plate;

[0030] 400, rotating assembly; 410, motor; 420, first base rod; 430, first round wheel; 440, belt; 450, second round wheel; 460, third round wheel; 461, second base rod; 470, first gear; 480, second gear; 490, threaded screw rod; 4910, threaded sleeve; 4911, clamping block; 4920, rotating disc; 4921, second spring telescopic rod; 4930, square block; 4931, clamping groove; 4940, support rod. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. The embodiments described below with reference to the drawings are exemplary and are used only for explaining the present application, and cannot be understood as a limitation of the present application.

[0032] The embodiments of the present application will be described below according to the overall structure of the present application.

[0033] An online visual inspection system for robotic sanding, as Figures 1-6 As shown, it comprises a whole assembly 100, the whole assembly 100 comprises a bottom plate 110, both sides of the top end of the bottom plate 110 are fixedly connected with support frames 120, two groups of support frames 120 are provided between the belt pulleys 130, and the top end of the support frame 120 is fixedly connected with a dust removal assembly 200, one side of the dust removal assembly 200 is fixedly connected with a collection assembly 300, and the top end of the bottom plate 110 is fixedly connected with a rotating assembly 400;

[0034] The dust removal assembly 200 comprises a first connecting shaft 210 fixedly connected to one side of the belt pulley 130, one end of the first connecting shaft 210 away from the belt pulley 130 penetrates the support frame 120 and is connected and fixed with a disc 220, one end of the disc 220 away from the first connecting shaft 210 is welded with a round shaft 230, the surface of the round shaft 230 is slidingly connected with a moving block 240, one end of the moving block 240 away from the round shaft 230 is welded with a first connecting rod 250, one end of the first connecting rod 250 away from the moving block 240 is fixedly connected with a piston rod 260, one end of the piston rod 260 away from the first connecting rod 250 is fixed with a piston 270, the surface of the piston 270 is slidingly connected with a piston cylinder 280, both sides of the piston cylinder 280 are fixedly connected with fixed plates 290;

[0035] The collection assembly 300 comprises a baffle 310 fixedly connected to one side of the fixed plate 290, the top end of the baffle 310 is fixedly connected with a U-shaped connecting block 320, the inner walls of both sides of the U-shaped connecting block 320 are fixedly connected with first spring telescopic rods 330, one end of the first spring telescopic rod 330 away from the U-shaped connecting block 320 is fixedly connected with a scraper 340, one side of the scraper 340 is welded with a second connecting rod 350, and a collection box 360 fixedly connected to the baffle 310 is provided below the scraper 340, a fixed shaft 370 is fixedly connected to the surface of the disc 220, a spring 380 is arranged in the inner wall of the fixed shaft 370, one end of the spring 380 away from the fixed shaft 370 is fixedly connected with a second connecting shaft 390.

[0036] By placing the polishing piece 141 on the conveyor belt 140, the polishing piece 141 is transported by the rotation of the conveyor belt 140 driven by the rotation of the belt pulley 130. The belt pulley 130 rotates while driving the first connecting shaft 210 to rotate, and the first connecting shaft 210 drives the disc 220 to rotate. The disc 220 drives the moving block 240 to move back and forth through the circular shaft 230. The moving block 240 drives the piston rod 260 to move through the first connecting rod 250. The piston rod 260 drives the piston 270 to blow in the piston cylinder 280. When the polishing piece 141 is transported, the air blown out of the piston cylinder 280 can effectively clean the dust on the surface of the polishing piece 141, preventing the polishing piece 141 from being covered with dust after polishing, thereby affecting the visual inspection effect. At the same time, the rotation of the disc 220 drives the fixed shaft 370 to rotate, and the fixed shaft 370 drives the second connecting shaft 390 to rotate. The second connecting shaft 390 rotates and touches the second connecting rod 350, causing the second connecting rod 350 to be stressed and drive the scraper 340 to slide in the chute 311. The scraper 340 is reset by the first spring telescopic rod 330, and moves back and forth to clean the dust on the baffle 310 into the collection box 360, preventing the dust from falling onto the conveyor belt 140. At the same time, the dust on the surface of the conveyor belt 140 is further cleaned by the wiping plate 3910, effectively enhancing the dust cleaning effect.

[0037] Please refer to Figure 1 and Figure 2 The surface of the belt pulley 130 is rotatably connected with the conveyor belt 140, and the polishing piece 141 is placed at the top end of the conveyor belt 140. The detection device 150 is installed at the end of the support frame 120 away from the disc 220.

[0038] The polishing piece 141 is transported by the conveyor belt 140, and then detected by the detection device 150.

[0039] Please refer to Figure 3 and Figure 4 The circular shaft 230 is located at a position away from the center of the disc 220. The moving block 240 has a moving groove 241. The circular shaft 230 is slidably connected with the moving block 240 through the moving groove 241. The fixed plate 290 is fixedly connected with a guide block 291 on one side. The guide block 291 is slidably connected with the moving block 240. A plurality of circular grooves 281 are formed at the top end of the piston cylinder 280.

[0040] The circular grooves 281 are formed on the piston cylinder 280 to prevent negative pressure from being generated inside the piston cylinder 280 when the piston rod 260 is pulled, generating suction.

[0041] Please refer to Figure 4The chute 311 is arranged on one side of the baffle 310, the scraper 340 is slidably connected with the baffle 310 through the chute 311, the wiping plate 3910 is attached to the bottom end of the conveyor belt 140, the wiping plate 3910 is fixedly connected to the inner wall of the support frame 120, the fixed shaft 370 is slidably connected with the second connecting shaft 390, and when the fixed shaft 370 performs the circumferential movement through the disc 220, the second connecting shaft 390 is in contact with the second connecting rod 350.

[0042] The cooperation between the second connecting shaft 390 and the second connecting rod 350 can effectively blow away the dust through the piston cylinder 280 and clean the dust on the baffle 310.

[0043] Please refer to Figure 1 , Figure 5 and Figure 6 , the rotating assembly 400 comprises the motor 410 fixedly connected to the top end of the bottom plate 110, the first base rod 420 fixedly connected to the output end of the motor 410, the first circular wheel 430 fixedly connected to the surface of the first base rod 420, the belt 440 rotatably connected to the surface of the first circular wheel 430, the second circular wheel 450 arranged on the inner wall of the belt 440 and away from the first circular wheel 430, the third circular wheel 460 arranged between the first circular wheel 430 and the second circular wheel 450, the second base rod 461 welded at the center position of the third circular wheel 460, the first gear 470 welded at the bottom end of the second base rod 461, the second gear 480 arranged on one side of the first gear 470 and in meshing engagement, the threaded screw rod 490 fixedly connected at the center position of the second gear 480, the threaded sleeve 4910 rotatably connected to the surface of the threaded screw rod 490, the rotating disc 4920 fixedly connected to the top end of the threaded sleeve 4910, the square block 4930 slidably connected to the surface of the threaded sleeve 4910, the clamping blocks 4911 fixedly connected to the surface of the threaded sleeve 4910 at both sides of the lower end, the clamping grooves 4931 arranged on the inner wall of the square block 4930 and matched with the clamping blocks 4911, the support rods 4940 welded at the bottom end of the square block 4930 and fixedly connected to the support frame 120 at both ends, the second spring telescopic rods 4921 fixedly connected at both sides of the bottom end of the rotating disc 4920 and to the top end of the second circular wheel 450.

[0044] When the dust on the surface of the polishing piece 141 is cleaned, the motor 410 is started to drive the first base rod 420 to rotate, the first base rod 420 drives the first circular wheel 430 to rotate, the first circular wheel 430 drives the second circular wheel 450 and the third circular wheel 460 to rotate through the belt 440, the third circular wheel 460 drives the second base rod 461 to rotate, the second base rod 461 drives the first gear 470 to rotate, the first gear 470 drives the second gear 480 to rotate, the second gear 480 drives the threaded rod 490 to rotate, the threaded rod drives the rotating disc 4920 to rotate and ascend through the threaded sleeve 4910, so that the rotating disc 4920 drives the polishing piece 141 to ascend and rotate at the same time, which can effectively enable the detection device 150 to detect the polishing piece 141 in all directions and effectively enhance the detection effect.

[0045] In use, the polishing piece 141 is placed on the conveying belt 140, and the polishing piece 141 is transported by rotating the conveying belt 140 driven by the rotation of the belt pulley 130. The belt pulley 130 rotates the first connecting shaft 210, and the first connecting shaft 210 rotates the disc 220. The disc 220 drives the moving block 240 to move back and forth through the circular shaft 230. The moving block 240 drives the piston rod 260 to move through the first connecting rod 250, and the piston rod 260 drives the piston 270 to blow in the piston cylinder 280. When the polishing piece 141 is transported, the air blown out of the piston cylinder 280 can effectively clean the dust on the surface of the polishing piece 141, preventing the polishing piece 141 from being covered with dust after polishing, thereby affecting the visual inspection effect. At the same time, the rotation of the disc 220 drives the fixed shaft 370 to rotate, and the fixed shaft 370 drives the second connecting shaft 390 to rotate. The second connecting shaft 390 rotates and touches the second connecting rod 350, so that the second connecting rod 350 is forced to drive the scraper 340 to slide in the sliding groove 311. The scraper 340 is reset by the first spring telescopic rod 330, and moves back and forth to clean the dust on the baffle 310 into the collecting box 360, preventing the dust from falling onto the conveying belt 140. At the same time, the dust on the surface of the conveying belt 140 is further cleaned by the wiping plate 3910, effectively enhancing the dust cleaning effect. When the dust on the surface of the polishing piece 141 is cleaned and moves to the upper side of the rotating disc 4920, the motor 410 is started to drive the first base rod 420 to rotate. The first base rod 420 drives the first circular wheel 430 to rotate, and the first circular wheel 430 drives the second circular wheel 450 and the third circular wheel 460 to rotate through the belt 440. The third circular wheel 460 drives the second base rod 461 to rotate, and the second base rod 461 drives the first gear 470 to rotate. The first gear 470 drives the second gear 480 to rotate, and the second gear 480 drives the threaded rod 490 to rotate. The threaded rod drives the rotating disc 4920 to rotate and rise through the threaded sleeve 4910, so that the rotating disc 4920 drives the polishing piece 141 to rise and rotate at the same time. This can effectively enable the detection device 150 to detect the polishing piece 141 in all directions, effectively enhancing the detection effect.

[0046] Although the embodiments of the present application have been shown and described, the specific embodiments are merely illustrative of the present application, and are not intended to limit the application. The specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner, and those skilled in the art can make modifications, replacements and variations of the embodiments without creative contribution after reading the specification, as long as they are within the scope of the claims of the present application.

Claims

1. An online visual inspection system for robotic polishing, comprising an integral component (100), characterized in that: The overall component (100) includes a base plate (110), with support frames (120) fixedly connected to both sides of the top of the base plate (110), a pulley (130) between the two sets of support frames (120), and a dust removal component (200) fixedly connected to the top of the support frame (120). A collection component (300) is fixedly connected to one side of the dust removal component (200), and a rotating component (400) is fixedly connected to the top of the base plate (110). The dust removal assembly (200) includes a first connecting shaft (210) fixedly connected to one side of a pulley (130). The end of the first connecting shaft (210) away from the pulley (130) passes through a support frame (120) and is connected to a disc (220). A round shaft (230) is welded to the end of the disc (220) away from the first connecting shaft (210). A moving block (240) is slidably connected to the surface of the round shaft (230). A first connecting rod (250) is welded to the end of the moving block (240) away from the round shaft (230). A piston rod (260) is fixedly connected to the end of the first connecting rod (250) away from the moving block (240). A piston (270) is fixed to the end of the piston rod (260) away from the first connecting rod (250). A piston cylinder (280) is slidably connected to the surface of the piston (270). Fixed plates (290) are fixedly connected to both sides of the piston cylinder (280). The collecting assembly (300) includes a baffle (310) fixedly connected to one side of a fixed plate (290). A U-shaped connecting block (320) is fixedly connected to the top of the baffle (310). A first spring telescopic rod (330) is fixedly connected to both sides of the inner wall of the U-shaped connecting block (320). A scraper (340) is fixedly connected to the end of the first spring telescopic rod (330) away from the U-shaped connecting block (320). A second connecting rod (350) is welded to one side of the scraper (340). A collecting box (360) fixedly connected to the baffle (310) is provided directly below the scraper (340). A fixed shaft (370) is fixedly connected to the surface of the disc (220). A spring (380) is provided on the inner wall of the fixed shaft (370). A second connecting shaft (390) is fixedly connected to the end of the spring (380) away from the fixed shaft (370). A conveyor belt (140) is rotatably connected to the surface of the pulley (130). (140) A grinding part (141) is placed at the top. A detection device (150) is installed at the end of the support frame (120) away from the disk (220). The circular shaft (230) is located at a position away from the center of the disk (220). A moving groove (241) is opened in the moving block (240). The circular shaft (230) is slidably connected to the moving block (240) through the moving groove (241). A guide block is fixedly connected to one side of the fixed plate (290). 291), the guide block (291) is slidably connected to the moving block (240), and the piston cylinder (280) has multiple sets of circular grooves (281) at the top; the baffle (310) has a sliding groove (311) on one side, and the scraper (340) is slidably connected to the baffle (310) through the sliding groove (311); the bottom end of the conveyor belt (140) is attached to a wiping plate (3910), and the wiping plate (3910) is fixedly connected to the inner wall of the support frame (120).

2. The online visual inspection system for robotic grinding according to claim 1, characterized in that: The fixed shaft (370) is slidably connected to the second connecting shaft (390), and when the fixed shaft (370) moves in a circular motion through the disk (220), the second connecting shaft (390) comes into contact with the second connecting rod (350).

3. The online visual inspection system for robotic grinding according to claim 1, characterized in that: The rotating assembly (400) includes a motor (410) fixedly connected to the top of the base plate (110). A first base rod (420) is fixedly connected to the output end of the motor (410). A first wheel (430) is fixedly connected to the surface of the first base rod (420). A belt (440) is rotatably connected to the surface of the first wheel (430). A second wheel (450) is provided on the side of the inner wall of the belt (440) away from the first wheel (430). A second wheel (450) is provided between the first wheel (430) and the second wheel (450). The three circular wheels (460) have a second base rod (461) welded at the center of the third circular wheel (460), a first gear (470) welded at the bottom of the second base rod (461), a second gear (480) meshing with the first gear (470) on one side, a threaded screw (490) fixedly connected at the center of the second gear (480), a threaded sleeve (4910) rotatably connected to the surface of the threaded screw (490), and a rotating disk (4920) fixedly connected to the top of the threaded sleeve (4910).

4. The online visual inspection system for robotic grinding according to claim 3, characterized in that: A square block (4930) is slidably connected to the surface of the threaded sleeve (4910), and a locking block (4911) is fixedly connected to both sides of the lower end of the threaded sleeve (4910). The inner wall of the square block (4930) is provided with a locking groove (4931) for matching the locking block (4911). A support rod (4940) is welded to the bottom end of the square block (4930). The two ends of the support rod (4940) are fixedly connected to the support frame (120). A second spring telescopic rod (4921) is fixedly connected to both sides of the bottom end of the rotating disk (4920). The bottom end of the second spring telescopic rod (4921) is fixedly connected to the top end of the second round wheel (450).

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