Robot visual inspection platform for glass

Abstract

The invention discloses a robot vision detection platform for glass, and relates to the technical field of glass detection, the robot vision detection platform comprises a rack, two belt rollers are horizontally arranged in the rack, two roller shaft ends of the belt rollers are rotatably connected to the inner wall of the rack, and the two belt rollers are sleeved with the same transparent conveying belt; the driving mechanism is arranged on the inner side of the rack, and the driving mechanism is connected with one belt roller and used for driving the belt roller to rotate to drive the transparent conveying belt to move; and the guide mechanism is arranged at the upper end of the rack, is positioned above the transparent conveying belt at the upper part and is used for guiding the glass. The light source can illuminate glass from multiple different positions and angles such as the upper portion, the side face and the lower portion, the optimal position and angle of the light source are determined, the detection result is more accurate, meanwhile, the detection mode with the substrate and the detection mode without the substrate can be flexibly switched, and detection is more comprehensive.

Description

Technical Field

[0001] The present invention relates to the technical field of glass detection, and in particular to a robot vision detection platform for glass. Background Art

[0002] With the development of society and the progress of science and technology, glass products are increasingly used in daily life, industrial production and scientific research. Especially in the fields of construction, automobiles, electronics, medicine, etc., the quality and safety requirements of glass products are increasing. However, in the production process of glass products, due to the influence of various factors such as raw materials, processes, equipment, etc., various defects such as bubbles, scratches, cracks, inclusions, etc. are inevitable. These defects not only affect the appearance and service life of the product, but also may pose a threat to the safety of consumers.

[0003] At present, there are two main ways to test glass quality:

[0004] 1. Relying on manual visual inspection, this method has many shortcomings. On the one hand, manual inspection is inefficient and difficult to meet the needs of large-scale production lines; on the other hand, manual inspection is easily affected by factors such as the experience, vision, and fatigue of the inspectors, resulting in unstable inspection results and a high misjudgment rate.

[0005] 2. Use visual cameras for detection. However, due to the high reflectivity of glass, the light source has a great impact on the quality of its imaging. In existing visual inspections, the position of the light source is relatively fixed, and it is impossible to flexibly switch between the inspection mode with or without a substrate, making the inspection effect incomplete.

[0006] Therefore, developing an efficient, accurate and stable glass quality inspection technology is of great significance to improving the production quality and market competitiveness of glass products. Now a robot vision inspection platform for glass is proposed. Summary of the invention

[0007] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a robot vision inspection platform for glass.

[0008] In order to achieve the above object, the present invention adopts the following technical solutions:

[0009] A robot vision inspection platform for glass, comprising:

[0010] A frame, wherein two belt rollers are horizontally arranged inside the frame, and two roller shaft ends of the belt rollers are rotatably connected to the inner wall of the frame, and the same transparent conveyor belt is sleeved on the two belt rollers;

[0011] A driving mechanism is arranged on the inner side of the frame, the driving mechanism is connected to one of the belt rollers, and is used to drive the belt roller to rotate and drive the transparent conveyor belt to move;

[0012] A guide mechanism is arranged at the upper end of the frame, and the guide mechanism is located above the transparent conveyor belt above, and is used to guide the glass;

[0013] A transparent support plate is arranged on the inner side of the frame, and the transparent support plate is located below the upper transparent conveyor belt;

[0014] A substrate mechanism is arranged on the frame, a movable groove is arranged on the upper surface of the transparent supporting plate, and the substrate mechanism extends to the inside of the movable groove;

[0015] A visual inspection mechanism, disposed above the frame, for visually inspecting the glass;

[0016] Two lighting mechanisms are respectively arranged on both sides of the visual inspection mechanism and are used for illuminating the glass during visual inspection.

[0017] As a further improvement of the present invention, the driving mechanism includes a first motor fixedly mounted on the inner bottom wall of the frame, the output shaft of the first motor is fixedly connected to a driving pulley, one of the roller shaft ends of the belt rollers is fixedly sleeved with a driven pulley, and the driven pulley and the driving pulley are connected via a gear belt transmission.

[0018] As a further improvement of the present invention, the guiding mechanism includes a fixed frame fixedly connected to the upper end of the frame, a bidirectional screw is provided on the inner side of the fixed frame, both ends of the bidirectional screw are rotatably connected to the inner wall of the fixed frame, both sides of the bidirectional screw are threadedly sleeved with moving blocks, the lower ends of the two moving blocks are fixedly connected with guide plates, a second motor is fixedly installed on the outer wall of the fixed frame, the output shaft of the second motor passes through the fixed frame and is fixedly connected to the end of the bidirectional screw, a guide rod is provided on the inner side of the fixed frame, the guide rod is located below the bidirectional screw and parallel to the bidirectional screw, both ends of the guide rod are fixedly connected to the inner wall of the fixed frame, the guide rod passes through the two moving blocks, and the moving block is slidably connected to the guide rod.

[0019] As a further improvement of the present invention, the substrate mechanism includes a fixed frame fixedly connected to the side wall of the frame, a substrate plate is provided inside the fixed frame, the substrate plate passes through the side wall of the frame and extends to the inside of the movable groove, the substrate plate is slidably connected to the frame, an electric telescopic rod is fixedly installed on the side wall of the fixed frame, the telescopic end of the electric telescopic rod passes through the fixed frame and is fixedly connected to the side wall of the substrate plate, limiting sliders are fixedly connected to the opposite side walls of the substrate plate, limiting slide grooves are provided on the opposite side inner walls of the fixed frame, and the two limiting slides are respectively slidably connected to the inside of the two limiting slide grooves.

[0020] As a further improvement of the present invention, the visual inspection mechanism includes a mounting frame fixedly connected to the upper end of the frame, the mounting frame is slidably mounted with two sliding sleeves, the side walls of the two sliding sleeves are provided with a clamping structure, the side walls of the two sliding sleeves are fixedly connected to the same moving frame, and the side walls of the moving frame are fixedly mounted with a visual inspection camera.

[0021] As a further improvement of the present invention, the lighting mechanism includes a multi-axis robot located on one side of the frame, and a moving end of the multi-axis robot is fixedly connected to a lighting lamp.

[0022] As a further improvement of the present invention, the clamping structure includes a clamping rod that passes through the side wall of the sliding sleeve, the clamping rod is slidably connected to the sliding sleeve, and the side wall of the mounting frame is vertically arranged with clamping holes that cooperate with the clamping rod. One end of the clamping rod is inserted into the clamping hole, and the other end of the clamping rod is fixedly connected to a pull block. A tension spring is sleeved on the clamping rod, one end of the tension spring is fixedly connected to the side wall of the sliding sleeve, and the other end of the tension spring is fixedly connected to the pull block.

[0023] As a further improvement of the present invention, four legs are fixedly connected to the bottom of the frame, and the four legs are respectively arranged at the four corners of the bottom of the frame.

[0024] Beneficial effects of the present invention:

[0025] 1. By setting up the lighting mechanism and using a multi-axis robot, the position of the lighting lamp can be flexibly adjusted, and then the position of the light source can be flexibly adjusted, so that the light source can illuminate the glass from multiple different positions and angles such as above, side, and below, and determine the best position and angle of the light source, making the detection result more accurate.

[0026] 2. By setting up a substrate mechanism and extending and retracting the electric telescopic rod, the substrate plate can be moved into or out of the movable slot, thereby flexibly switching between the detection mode with and without substrate, making the detection more comprehensive.

[0027] 3. By setting up a guiding mechanism and the guiding effect of two guide plates, the glass can be guided and the direction can be corrected when it is transported by a transparent conveyor belt, so that the direction of the glass can be corrected and meet the bottom of the visual inspection camera, thereby ensuring the accuracy of subsequent glass inspection results.

[0028] The light source of the present invention can illuminate the glass from multiple different positions and angles such as above, side and below, determine the best position and angle of the light source, so that the detection result is more accurate, and can flexibly switch between the detection mode with substrate and the detection mode without substrate, so that the detection is more comprehensive. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic diagram of the structure of a robot vision inspection platform for glass proposed by the present invention;

[0030] Figure 2 This is a schematic structural diagram of a substrate mechanism of a robot vision inspection platform for glass proposed by the present invention;

[0031] Figure 3 This is a schematic structural diagram of a guide mechanism of a robot vision inspection platform for glass proposed by the present invention;

[0032] Figure 4 A schematic diagram of the structure of a visual inspection mechanism of a robot visual inspection platform for glass proposed by the present invention;

[0033] Figure 5 The present invention is a schematic diagram of the structure of a clamping structure of a robot vision inspection platform for glass.

[0034] In the figure: 1 frame, 2 legs, 3 first motor, 4 driving pulley, 5 gear belt, 6 driven pulley, 7 belt roller, 8 transparent conveyor belt, 9 fixed frame, 10 moving block, 11 guide plate, 12 transparent support plate, 13 substrate plate, 14 mounting frame, 15 sliding sleeve, 16 moving frame, 17 visual inspection camera, 18 lighting, 19 multi-axis robot, 20 electric telescopic rod, 21 fixed frame, 22 limiting slide, 23 movable slot, 24 second motor, 25 bidirectional screw, 26 guide rod, 27 clamping hole, 28 clamping rod, 29 pulling block, 30 tension spring, 31 limiting slider. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0036] Reference Figure 1-Figure 5 , a robot vision inspection platform for glass, comprising:

[0037] A frame 1, the bottom of which is fixedly connected with four legs 2, which are respectively arranged at the four corners of the bottom of the frame 1, and two belt rollers 7 are horizontally arranged inside the frame 1, and the two roller ends of the belt rollers 7 are rotatably connected to the inner wall of the frame 1, and the two belt rollers 7 are sleeved with the same transparent conveyor belt 8;

[0038] A driving mechanism is arranged on the inner side of the frame 1, the driving mechanism is connected to one of the belt rollers 7, and is used to drive the belt roller 7 to rotate and drive the transparent conveyor belt 8 to move, the driving mechanism includes a first motor 3 fixedly mounted on the inner bottom wall of the frame 1, the output shaft of the first motor 3 is fixedly connected to a driving pulley 4, a roller shaft end of one of the belt rollers 7 is fixedly sleeved with a driven pulley 6, and the driven pulley 6 is connected to the driving pulley 4 through a gear belt 5;

[0039] The guide mechanism is arranged at the upper end of the frame 1, and the guide mechanism is located above the transparent conveyor belt 8 above, and is used to guide the glass. The guide mechanism includes a fixed frame 9 fixedly connected to the upper end of the frame 1, and a bidirectional screw 25 is arranged on the inner side of the fixed frame 9. Both ends of the bidirectional screw 25 are rotatably connected to the inner wall of the fixed frame 9, and both sides of the bidirectional screw 25 are threadedly sleeved with moving blocks 10. The lower ends of the two moving blocks 10 are fixedly connected with guide plates 11. A second motor 24 is fixedly installed on the outer wall of the fixed frame 9, and the output shaft of the second motor 24 passes through the fixed frame 9 and is fixedly connected to the end of the bidirectional screw 25. The inner wall of the fixed frame 9 A guide rod 26 is provided on the side, the guide rod 26 is located below the bidirectional screw 25 and is parallel to the bidirectional screw 25, both ends of the guide rod 26 are fixedly connected to the inner wall of the fixing frame 9, the guide rod 26 passes through the two moving blocks 10, and the moving blocks 10 are slidably connected to the guide rod 26, and the bidirectional screw 25 can be driven to rotate by driving the second motor 24. Since the two sides of the bidirectional screw 25 have opposite thread directions, the two moving blocks 10 can be moved synchronously, and the movement of the two moving blocks 10 can drive the two guide plates 11 to move synchronously, and the spacing between the two guide plates 11 can be adjusted, so as to adapt to the guidance of glass of different widths;

[0040] A transparent support plate 12 is disposed on the inner side of the frame 1, and the transparent support plate 12 is located below the upper transparent conveyor belt 8;

[0041] The substrate mechanism is arranged on the frame 1. The upper surface of the transparent supporting plate 12 is provided with a movable groove 23. The substrate mechanism extends to the inside of the movable groove 23. The substrate mechanism includes a fixed frame 21 fixedly connected to the side wall of the frame 1. A substrate plate 13 is provided inside the fixed frame 21. The substrate plate 13 is black. The substrate plate 13 penetrates the side wall of the frame 1 and extends to the inside of the movable groove 23. The substrate plate 13 is slidably connected to the frame 1. An electric telescopic rod 20 is fixedly installed on the side wall of the fixed frame 21. The telescopic end of the electric telescopic rod 20 penetrates the fixed frame 21 and is fixedly connected to the side wall of the substrate plate 13. The two opposite side walls of the substrate plate 13 are fixedly connected with limit sliders 31. The inner walls on the opposite sides of the fixed frame 21 are provided with limit slide grooves 22. The two limit sliders 31 are respectively slidably connected to the inside of the two limit slide grooves 22.

[0042] A visual inspection mechanism is arranged above the frame 1 and is used for visual inspection of the glass. The visual inspection mechanism includes a mounting frame 14 fixedly connected to the upper end of the frame 1. Two sliding sleeves 15 are slidably mounted on the mounting frame 14. The side walls of the two sliding sleeves 15 are provided with a clamping structure. The side walls of the two sliding sleeves 15 are fixedly connected with the same moving frame 16. A visual inspection camera 17 is fixedly installed on the side wall of the moving frame 16. The clamping structure includes a clamping rod 28 that runs through the side wall of the sliding sleeve 15. The clamping rod 28 is slidably connected to the sliding sleeve 15. Clamping holes 27 that cooperate with the clamping rod 28 are vertically arranged on the side wall of the mounting frame 14. One end of the clamping rod 28 is inserted into the clamping hole 27. The other end of the clamping rod 28 is fixedly connected to a pull block 29. A tension spring 30 is sleeved on the clamping rod 28. One end of the tension spring 30 is fixedly connected to the side wall of the sliding sleeve 15, and the other end of the tension spring 30 is fixedly connected to the pull block 29.

[0043] Two lighting mechanisms are respectively arranged on both sides of the visual inspection mechanism for illuminating the glass during visual inspection. The lighting mechanism includes a multi-axis robot 19 located on one side of the frame 1. The moving end of the multi-axis robot 19 is fixedly connected with a lighting lamp 18. The multi-axis robot 19 can flexibly adjust the position of the lighting lamp 18, and then can flexibly adjust the position of the light source, so that the light source can illuminate the glass from multiple different positions and angles such as above, side, and below.

[0044] When the present invention is used, the first motor 3 is started to drive the driving pulley 4 to rotate, and the driving pulley 4, the gear belt 5, and the driven pulley 6 are used to drive the belt roller 7 to rotate, and then the transparent conveyor belt 8 can be driven to rotate;

[0045] The glass to be inspected is transported by the transparent conveyor belt 8. When the glass passes between the two guide plates 11, the guiding effect of the two guide plates 11 enables the glass to be guided and corrected in direction when being transported by the transparent conveyor belt 8, so that the direction of the glass can be corrected and meet the bottom of the visual inspection camera 17.

[0046] The multi-axis robot 19 can flexibly adjust the position of the lighting lamp 18, and thus can flexibly adjust the position of the light source, so that the light source can illuminate the glass from multiple different positions and angles such as above, side, and below. At the same time, the glass is inspected by the visual inspection camera 17, and the substrate plate 13 can be moved into or out of the movable groove 23 by extending and retracting the electric telescopic rod 20, thereby being able to flexibly switch between inspection modes with and without substrate.

[0047] The above are only preferred specific implementation modes of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and inventive concepts of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A robot vision inspection platform for glass, characterized in that: include: A frame (1), wherein two belt rollers (7) are horizontally arranged inside the frame (1), and two roller shaft ends of the belt rollers (7) are rotatably connected to the inner wall of the frame (1), and the two belt rollers (7) are sleeved with the same transparent conveyor belt (8); A driving mechanism is arranged on the inner side of the frame (1), the driving mechanism is connected to one of the belt rollers (7), and is used to drive the belt roller (7) to rotate and drive the transparent conveyor belt (8) to move; A guide mechanism is arranged at the upper end of the frame (1), and the guide mechanism is located above the transparent conveyor belt (8) above, and is used to guide the glass; A transparent support plate (12) is arranged on the inner side of the frame (1), and the transparent support plate (12) is located below the transparent conveyor belt (8) above; A substrate mechanism is arranged on the frame (1), a movable groove (23) is provided on the upper surface of the transparent support plate (12), and the substrate mechanism extends to the inside of the movable groove (23); A visual inspection mechanism, arranged above the frame (1) and used for visual inspection of the glass; Two lighting mechanisms are respectively arranged on both sides of the visual inspection mechanism and are used for illuminating the glass during visual inspection.

2. A robot visual inspection platform for glass according to claim 1, characterized in that: The driving mechanism comprises a first motor (3) fixedly mounted on the inner bottom wall of the frame (1); the output shaft of the first motor (3) is fixedly connected to a driving pulley (4); a roller shaft end of one of the belt rollers (7) is fixedly sleeved with a driven pulley (6); the driven pulley (6) is connected to the driving pulley (4) via a gear belt (5).

3. The robot vision inspection platform for glass according to claim 1, characterized in that: The guide mechanism comprises a fixed frame (9) fixedly connected to the upper end of the frame (1), a bidirectional screw (25) is provided on the inner side of the fixed frame (9), both ends of the bidirectional screw (25) are rotatably connected to the inner wall of the fixed frame (9), both sides of the bidirectional screw (25) are threadedly sleeved with moving blocks (10), the lower ends of the two moving blocks (10) are fixedly connected to the guide plates (11), a second motor (24) is fixedly mounted on the outer side wall of the fixed frame (9), and the The output shaft of the second motor (24) passes through the fixed frame (9) and is fixedly connected to the end of the bidirectional screw (25). A guide rod (26) is provided on the inner side of the fixed frame (9). The guide rod (26) is located below the bidirectional screw (25) and is parallel to the bidirectional screw (25). Both ends of the guide rod (26) are fixedly connected to the inner wall of the fixed frame (9). The guide rod (26) passes through two moving blocks (10), and the moving blocks (10) are slidably connected to the guide rod (26).

4. The robot vision inspection platform for glass according to claim 1, characterized in that: The substrate mechanism comprises a fixed frame (21) fixedly connected to the side wall of the frame (1); a substrate plate (13) is arranged inside the fixed frame (21); the substrate plate (13) passes through the side wall of the frame (1) and extends to the inside of the movable groove (23); the substrate plate (13) is slidably connected to the frame (1); an electric telescopic rod (20) is fixedly installed on the side wall of the fixed frame (21); the telescopic end of the electric telescopic rod (20) passes through the fixed frame (21) and is fixedly connected to the side wall of the substrate plate (13); limiting sliders (31) are fixedly connected to the opposite side walls of the substrate plate (13); limiting slide grooves (22) are arranged on the opposite side inner walls of the fixed frame (21); and two limiting sliders (31) are respectively slidably connected to the inside of the two limiting slide grooves (22).

5. The robot vision inspection platform for glass according to claim 1, characterized in that: The visual inspection mechanism comprises a mounting frame (14) fixedly connected to the upper end of a frame (1), two sliding sleeves (15) being slidably mounted on the mounting frame (14), a clamping structure being provided on the side walls of the two sliding sleeves (15), a same moving frame (16) being fixedly connected to the side walls of the two sliding sleeves (15), and a visual inspection camera (17) being fixedly mounted on the side walls of the moving frame (16).

6. The robot vision inspection platform for glass according to claim 1, characterized in that: The lighting mechanism comprises a multi-axis robot (19) located on one side of the frame (1), and a moving end of the multi-axis robot (19) is fixedly connected to a lighting lamp (18).

7. The robot vision inspection platform for glass according to claim 5, characterized in that: The clamping structure comprises a clamping rod (28) penetrating through the side wall of the sliding sleeve (15), the clamping rod (28) being slidably connected to the sliding sleeve (15), and a clamping hole (27) cooperating with the clamping rod (28) being arranged vertically on the side wall of the mounting frame (14), one end of the clamping rod (28) being inserted into the clamping hole (27), and the other end of the clamping rod (28) being fixedly connected to a pulling block (29), and a tension spring (30) being sleeved on the clamping rod (28), one end of the tension spring (30) being fixedly connected to the side wall of the sliding sleeve (15), and the other end of the tension spring (30) being fixedly connected to the pulling block (29).

8. The robot vision inspection platform for glass according to claim 1, characterized in that: Four supporting legs (2) are fixedly connected to the bottom of the frame (1), and the four supporting legs (2) are respectively arranged at the four corners of the bottom of the frame (1).

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