Expandable multi-joint universal intelligent robot

Abstract

The invention relates to the technical field of robots, in particular to an expandable multi-joint universal intelligent robot which comprises a robot body arranged at the top of a first conveyor, the robot body comprises a controller, a rotating mechanism, a screening mechanism and an expanding mechanism, and the rotating mechanism comprises a rotating shaft and a driving assembly. The screening mechanism comprises an industrial camera, a telescopic assembly, an angle adjusting assembly and a grabbing assembly, the expanding mechanism comprises a collecting box, a distance sensor, a traction assembly and a pushing assembly, and the industrial camera, the distance sensor, the driving assembly, the telescopic assembly, the angle adjusting assembly, the grabbing assembly and the traction assembly are all electrically connected with the controller. The expandable multi-joint universal intelligent robot not only has a detection function, but also has a screening function, and workpieces with defects and workpieces without defects after detection can be quickly separated and treated separately without causing confusion.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to an expandable multi-joint universal intelligent robot. Background Art

[0002] Industrial intelligent visual inspection is a detection method that integrates computer vision, artificial intelligence and image processing technology. It plays an increasingly important role in modern industrial production. First of all, industrial intelligent visual inspection uses computer vision algorithms to automatically analyze and identify products in the industrial manufacturing process. By collecting product image information and using image processing algorithms to extract features, accurate detection of product defects and anomalies can be achieved. This detection method not only improves production efficiency, but also greatly improves product quality.

[0003] Existing product or workpiece defect detection technology has the following shortcomings:

[0004] 1. In order to save costs, some companies still use manual visual inspection to detect surface defects of workpieces. Observation with the naked eye is not only easy to miss, but also easy to cause unclear detection, thus reducing the detection effect.

[0005] 2. The existing detection devices have a single function, generally only having the detection function, but are unable to timely screen and process defective and non-defective workpieces after detection.

[0006] 3. After inspection, defective workpieces are usually thrown aside, which not only easily causes chaotic stacking and chaos in the factory workshop, but also easily causes collisions between workpieces due to random throwing and random stacking, causing secondary damage, making it impossible to rework and can only be discarded, resulting in a waste of resources. Summary of the invention

[0007] The purpose of the present invention is to provide an expandable multi-joint universal intelligent robot.

[0008] To achieve this object, the present invention adopts the following technical solutions:

[0009] Provided is an expandable multi-joint universal intelligent robot, comprising a robot arranged on top of a first conveyor, the robot comprising a controller, a rotating mechanism, a screening mechanism and an expansion mechanism;

[0010] A cover is fixedly provided on the top of the first conveyor, a protective shell is fixedly provided on the top of the cover, a rotating mechanism is arranged inside the protective shell, the rotating mechanism includes a rotating shaft and a driving assembly, the rotating shaft is rotatably arranged between the top of the cover and the protective shell, the driving assembly is arranged between the cover and the rotating shaft, and a supporting plate is fixedly provided on the top of the rotating shaft;

[0011] The screening mechanism is arranged on the top of the rotating mechanism, and the screening mechanism includes an industrial camera, a telescopic component, an angle adjustment component and a grabbing component. The telescopic component is arranged on the top of the pallet, the angle adjustment component is arranged on the telescopic component, the grabbing component is arranged on the angle adjustment component, and the industrial camera is fixed on the angle adjustment component.

[0012] The expansion mechanism is arranged on the outer wall of the protective shell, and the expansion mechanism includes a collecting box, a distance sensor, a traction assembly and a pushing assembly. The collecting box is fixedly arranged on the outer wall at one end of the cover shell, the distance sensor is fixedly arranged on the outer wall at one end of the protective shell close to the telescopic assembly, a cantilever is fixedly arranged on the outer wall of the protective shell, the pushing assembly is arranged inside the collecting box, and the traction assembly is arranged between the cantilever and the pushing assembly. The industrial camera, distance sensor, driving assembly, telescopic assembly, angle adjustment assembly, grabbing assembly and traction assembly are all electrically connected to the controller.

[0013] Furthermore, the telescopic assembly includes a first electric push rod, two support arms, two first articulated arms and two second articulated arms. The two support arms are fixed on the top of the support plate, the two first articulated arms are hinged on the top of the two support arms, each second articulated arm is hinged on one end of a first articulated arm away from the support arm, the first electric push rod is hinged between one of the support arms and the two second articulated arms, and the first electric push rod is electrically connected to the controller.

[0014] Furthermore, the angle adjustment assembly includes a rack, an umbrella gear, a second electric push rod, a push block, a guide rail and a rotating rod. The rotating rod is rotatably arranged between the two second hinged arms away from one end of the first hinged arm. The umbrella gear is fixed on the outer wall of the rotating rod. The guide rail is fixed on the outer wall of one of the second hinged arms. The rack is slidably arranged at the bottom of the rack. The umbrella gear is meshingly connected with the rack. The second electric push rod is fixed at the top of the guide rail. The push block is fixed on its output end. The top of the guide rail is provided with an avoidance notch for the push block to slide. The bottom of the push block is fixedly connected to the rack through a connecting rod. A support rod is fixed on the outer wall of the guide rail. The industrial camera is fixed on the support rod. A diffuse scattering light source is also fixed on the outer wall of the support rod. The second electric push rod is electrically connected to the controller.

[0015] Furthermore, the grabbing assembly includes a support plate, a micromotor, a bidirectional screw, two slide rails and two clamps. The support plate is fixed on the outer wall of the rotating rod through two adapter blocks. The two slide rails are fixed on the support plate. Each clamp is slidably arranged on a slide rail. Two limit blocks are fixed on the outer wall of the support plate. The bidirectional screw is rotatably arranged between the two limit blocks. The micromotor is fixed on the outer wall of one of the limit blocks, and its output end is fixedly connected to one end of the bidirectional screw. The two clamps are respectively threadedly connected to the two ends of the bidirectional screw. The industrial camera faces the two clamps, and the micromotor is electrically connected to the controller.

[0016] Furthermore, the traction assembly includes a servo motor, a turntable and a connecting rod. The servo motor is fixed on the outer wall of the cantilever, the turntable is fixed on its output end, the connecting rod is hinged on the top of the turntable, and the servo motor is electrically connected to the controller.

[0017] Furthermore, the pushing assembly includes a push plate and two slide blocks. Two slide grooves are symmetrically arranged on the outer wall of the end of the collection box away from the cover shell. Each slide block is slidably set in a slide groove. The push plate is fixed between the two slide blocks. The end of the connecting rod away from the turntable is hinged to the top of one of the slide blocks.

[0018] Furthermore, the interior of the collection box is integrally formed with an inclined groove and a flat groove, and a plurality of accommodating cavities are arranged at equal intervals on the top of the inclined groove through a plurality of partitions.

[0019] Furthermore, the driving assembly includes a DC motor, a first gear and a second gear. The DC motor is inserted into the top of the cover shell, the first gear is fixed on its output end, the second gear is fixed on the rotating shaft, the first gear and the second gear are meshed and connected, and the diameter of the first gear is smaller than the diameter of the second gear. The DC motor is electrically connected to the controller.

[0020] Furthermore, a second conveyor is arranged beside the first conveyor, conveyor belts are arranged on the tops of the first conveyor and the second conveyor, and two baffles are symmetrically arranged on the tops of the first conveyor and the second conveyor.

[0021] Furthermore, a plurality of anti-slip strips are fixedly provided on the outer wall of each clamping plate.

[0022] Beneficial effects of the present invention:

[0023] 1. The present invention designs a robot, namely a controller, a rotating mechanism, a screening mechanism and an expansion mechanism, and designs multiple axes, namely multiple joints, in conjunction with an industrial camera to simulate the observation actions of workers, thereby replacing manual visual inspection and greatly improving the accuracy of workpiece defect detection. At the same time, it saves time and effort and improves the efficiency of workpiece defect detection.

[0024] 2. The present invention designs a screening mechanism, namely an industrial camera, a telescopic component, an angle adjustment component and a grabbing component. The industrial camera is used to take pictures of multiple surfaces of the workpiece and compare them with the multi-surface image standard values ​​preset in the controller. When a workpiece is determined to be a defective workpiece, it is grabbed and temporarily stored in the collection box. When a workpiece is determined to be a non-defective workpiece, it is directly grabbed and discharged on the second conveyor. Compared with the prior art, the present invention not only has a detection function, but also a screening function, which can quickly separate the defective and non-defective workpieces after detection and process them separately without causing confusion.

[0025] 3. The present invention designs an expansion mechanism, namely a collection box, a distance sensor, a traction assembly and a pushing assembly. After the distance sensor detects that the telescopic assembly is close to the top of the flat groove inside the collection box, a signal is sent to the controller, and the two clamps are loosened by the controller to place the workpiece horizontally on the top of the flat groove. Then, the traction assembly and the pushing assembly cooperate to push the defective workpieces placed in the flat groove to the internal temporary storage of the inclined groove in turn. Compared with the prior art, the present invention expands a function of orderly stacking of defective workpieces, avoids the problem of arbitrarily throwing aside or randomly stacking, and further prevents collision with subsequently placed defective workpieces, causing secondary damage, aggravating the degree of defects and affecting subsequent rework or even causing damage, thereby avoiding further losses compared with the prior art.

[0026] 4. The present invention is designed with an angle adjustment component that can drive the two clamping plates and the workpieces clamped therein to rotate longitudinally, so as to facilitate the industrial camera to take photos of them at multiple angles, thereby preventing detection omissions and improving the workpiece defect detection effect.

[0027] 5. The expandable multi-joint general intelligent robot of the present invention, in conjunction with the first conveyor and the second conveyor, can not only realize automatic multi-angle detection of workpiece defects, but also realize automatic screening processing after detection, as well as collision avoidance during screening processing of defective workpieces. While improving the detection efficiency and effect, it avoids secondary damage to the workpiece and facilitates subsequent rework, so that the robot can achieve the effect of one machine with multiple uses, thereby achieving universal functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solution of the embodiment of the present invention, the drawings in the embodiment of the present invention are briefly introduced below.

[0029] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0030] Figure 2 for Figure 1 A in the enlarged view;

[0031] Figure 3 for Figure 1 The enlarged view of point B in the figure;

[0032] Figure 4 for Figure 1 The enlarged view of point C in the figure;

[0033] Figure 5 It is a three-dimensional structural schematic diagram of the rotating mechanism and the screening mechanism of the present invention;

[0034] Figure 6 for Figure 5 The enlarged view of point D in the figure;

[0035] Figure 7It is a schematic diagram of the three-dimensional structure of the collecting box of the present invention;

[0036] Figure 8 A top view of the present invention;

[0037] In the figure: 1, robot; 2, cover; 3, rotating shaft; 4, support plate; 5, industrial camera; 6, collection box; 7, distance sensor; 8, cantilever; 9, first electric push rod; 10, support arm; 11, first articulated arm; 12, second articulated arm; 13, rack; 14, bevel gear; 15, second electric push rod; 16, push block; 17, guide rail; 18, rotating rod; 19, diffuse scattering light source; 20, support plate; 21, micro motor; 22, bidirectional lead screw; 23, slide rail; 24, clamping plate; 25, servo motor; 26, turntable; 27, connecting rod; 28, push plate; 29, slider; 30, inclined slot; 31, flat slot; 32, partition; 33, DC motor; 34, first gear; 35, second gear; 36, conveyor belt; 37, baffle; 38, anti-slip strip; 39, first conveyor; 40, second conveyor. DETAILED DESCRIPTION

[0038] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0039] Among them, the drawings are only used for illustrative purposes and represent only schematic diagrams rather than actual pictures, and should not be understood as limitations on this patent; in order to better illustrate the embodiments of the present invention, some parts of the drawings will be omitted, enlarged or reduced, and do not represent the size of the actual product.

[0040] Reference Figures 1 to 8 As shown, an expandable multi-joint universal intelligent robot includes a robot 1 disposed on the top of a first conveyor 39, wherein the robot 1 includes a controller, a rotating mechanism, a screening mechanism, and an expansion mechanism;

[0041] A cover shell 2 is fixedly provided on the top of the first conveyor 39, a protective shell is fixedly provided on the top of the cover shell 2, a rotating mechanism is arranged inside the protective shell, the rotating mechanism includes a rotating shaft 3 and a driving assembly, the rotating shaft 3 is rotatably arranged between the top of the cover shell 2 and the protective shell, the driving assembly is arranged between the cover shell 2 and the rotating shaft 3, and a support plate 4 is fixedly provided on the top of the rotating shaft 3;

[0042] The screening mechanism is arranged at the top of the rotating mechanism, and the screening mechanism includes an industrial camera 5, a telescopic component, an angle adjustment component and a grabbing component. The telescopic component is arranged at the top of the support plate 4, the angle adjustment component is arranged on the telescopic component, the grabbing component is arranged on the angle adjustment component, and the industrial camera 5 is fixedly arranged on the angle adjustment component;

[0043] The expansion mechanism is arranged on the outer wall of the protective shell, and the expansion mechanism includes a collecting box 6, a distance sensor 7, a traction assembly and a pushing assembly. The collecting box 6 is fixedly arranged on the outer wall at one end of the cover shell 2, and the distance sensor 7 is fixedly arranged on the outer wall at one end of the protective shell close to the telescopic assembly. A cantilever 8 is fixedly arranged on the outer wall of the protective shell, and the pushing assembly is arranged inside the collecting box 6. The traction assembly is arranged between the cantilever 8 and the pushing assembly. The industrial camera 5, the distance sensor 7, the driving assembly, the telescopic assembly, the angle adjustment assembly, the grabbing assembly and the traction assembly are all electrically connected to the controller.

[0044] Reference Figures 1 to 8 As shown, the telescopic assembly includes a first electric push rod 9, two support arms 10, two first articulated arms 11 and two second articulated arms 12. The two support arms 10 are fixed on the top of the support plate 4. The two first articulated arms 11 are hinged on the tops of the two support arms 10. Each second articulated arm 12 is hinged on one end of a first articulated arm 11 away from the support arm 10. The first electric push rod 9 is hinged between one of the support arms 10 and the two second articulated arms 12. The first electric push rod 9 is electrically connected to the controller. When the workpiece is transported, the first electric push rod 9 is electrically connected to the controller. When it is delivered to the collection box 6, the first electric push rod 9 is started by the controller, so that its output end extends to the end away from the support arm 10. Since one of the support arms 10 and the two second articulated arms 12 are respectively connected to the two ends of the first electric push rod 9, the two support arms 10 are fixedly connected to the support plate 4, and each support arm 10 and one second articulated arm 12 are respectively connected to the two ends of a first articulated arm 11, thereby driving the first articulated arm 11 and the second articulated arm 12 to expand obliquely downward toward the end close to the workpiece, that is, to approach the workpiece.

[0045] Reference Figures 1 to 8As shown, the angle adjustment assembly includes a rack 13, a bevel gear 14, a second electric push rod 15, a push block 16, a guide rail 17 and a rotating rod 18. The rotating rod 18 is rotatably arranged between the ends of the two second hinged arms 12 away from the first hinged arm 11. The bevel gear 14 is fixedly arranged on the outer wall of the rotating rod 18. The guide rail 17 is fixedly arranged on the outer wall of one of the second hinged arms 12. The rack 13 is slidably arranged at the bottom of the rack 13. The bevel gear 14 is meshed and connected with the rack 13. The second electric push rod 1 5 is fixed on the top of the guide rail 17, the push block 16 is fixed on the output end thereof, the top of the guide rail 17 is provided with an avoidance notch for the push block 16 to slide, the bottom of the push block 16 is fixedly connected to the rack 13 through a connecting rod, a support rod is fixedly provided on the outer wall of the guide rail 17, the industrial camera 5 is fixedly provided on the support rod, and a diffuse scattering light source 19 is also fixedly provided on the outer wall of the support rod, the second electric push rod 15 is electrically connected to the controller, and when the two clamps 24 clamp the workpiece, the controller Start the industrial camera 5 to take a picture of the outer wall of one end of the workpiece, and at the same time start the diffuse scattering light source 19 to illuminate the workpiece to improve the clarity of the picture and prevent blurry pictures caused by insufficient light. When one side is taken, the second electric push rod 15 is started by the controller, so that it extends to the end close to the cover shell 2 through the push block 16 on its output end. Since its output end is fixedly connected to the rack 13 through the push block 16 and the connecting rod, the rack 13 is slidably connected to the guide rail 17, the bevel gear 14 is fixedly connected to the rotating rod 18, and the bevel gear 14 is meshed with the rack 13, thereby driving the rotating rod 18 to rotate counterclockwise. Since the two clamping plates 24 are fixedly connected to the support plate 20, the support plate 20 is fixedly connected to the rotating rod 18 through two adapter blocks, thereby driving the two clamping plates 24 and the clamped workpiece to rotate counterclockwise, it is convenient for the industrial camera 5 to take a picture of the outer wall of the other end of the workpiece, and then the pictures taken at both ends are compared with the image standard values ​​of both ends preset in the controller.

[0046] Reference Figures 1 to 8As shown, the grabbing assembly includes a support plate 20, a micro motor 21, a bidirectional screw 22, two slide rails 23 and two clamps 24. The support plate 20 is fixed on the outer wall of the rotating rod 18 through two adapter blocks. The two slide rails 23 are fixed on the support plate 20. Each clamp 24 is slidably arranged on one slide rail 23. Two limit blocks are fixed on the outer wall of the support plate 20. The bidirectional screw 22 is rotatably arranged between the two limit blocks. The micro motor 21 is fixed on the outer wall of one of the limit blocks, and its output end is fixedly connected to one end of the bidirectional screw 22. The two clamps 24 are respectively threadedly connected to the two ends of the bidirectional screw 22. Then, the industrial camera 5 faces the two clamps 24, and the micromotor 21 is electrically connected to the controller. When the two second articulated arms 12 drive the two clamps 24 to approach the workpiece, the micromotor 21 is started by the controller, so that its output end drives the bidirectional screw 22 fixedly connected to it to rotate. The two ends of the bidirectional screw 22 are symmetrically provided with two thread segments with different rotation directions. Since one end of each clamp 24 is slidably connected to a slide rail 23, one end of each clamp 24 is threadedly connected to one end of the bidirectional screw 22, and the bidirectional screw 22 is rotatably connected to the two limit blocks, thereby driving the two clamps 24 to approach each other to clamp the workpiece.

[0047] Reference Figures 1 to 8 As shown, the traction assembly includes a servo motor 25, a turntable 26 and a connecting rod 27. The servo motor 25 is fixed on the outer wall of the cantilever 8, the turntable 26 is fixed on its output end, and the connecting rod 27 is hinged on the top of the turntable 26. The servo motor 25 is electrically connected to the controller. When it is determined that the workpiece has defects, that is, it is a defective product, the workpiece is first rotated to a horizontal clamping state through the angle adjustment component, and then the two clamps 24 and the clamped defective workpiece are driven to grab the end close to the collection box 6 through the telescopic component. When the distance sensor 7 detects that the defective workpiece is grabbed to the top of the flat groove 31 inside the collection box 6, the signal is sent to the controller, so that the two clamps 24 are released by the controller, and the defective workpiece is placed horizontally on the top of the flat groove 31, and then the servo motor 25 is started by the controller, so that its output end drives the turntable 26 to rotate counterclockwise. Since the connecting rod 27 is hinged to the top of the turntable 26, the connecting rod 27 is driven to rotate counterclockwise.

[0048] Reference Figures 1 to 8As shown, the pushing assembly includes a push plate 28 and two sliders 29. Two slide grooves are symmetrically arranged on the outer wall of the end of the collection box 6 away from the cover shell 2. Each slider 29 is slidably arranged in a slide groove. The push plate 28 is fixedly arranged between the two sliders 29. The end of the connecting rod 27 away from the turntable 26 is hinged to the top of one of the sliders 29. When the connecting rod 27 rotates counterclockwise, since the outer wall of the end of the collection box 6 away from the cover shell 2 is symmetrically designed with two slide grooves, the end of the connecting rod 27 away from the turntable 26 is hinged to the top of one of the sliders 29. Each slider 29 is slidably connected to a slide groove. The two ends of the push plate 28 are respectively fixedly connected to the two sliders 29, thereby pushing the defective workpiece placed on the top of the flat groove 31 from the flat groove 31 to the inclined groove 30.

[0049] Reference Figures 1 to 8 As shown, the interior of the collecting box 6 is integrally formed with an inclined groove 30 and a flat groove 31, and a plurality of accommodating cavities are evenly spaced on the top of the inclined groove 30 through a plurality of partitions 32. When the defective workpiece placed on the top of the flat groove 31 is pushed from the flat groove 31 to the inclined groove 30, since a plurality of accommodating cavities are evenly spaced on the top of the inclined groove 30 through a plurality of partitions 32, the defective workpiece is pushed into one of the accommodating cavities. The plurality of accommodating cavities can prevent a plurality of rows of defective workpieces, and thus prevent them from colliding and being damaged by subsequently placed defective workpieces, causing secondary damage, aggravating the degree of defects and affecting subsequent rework or even causing damage, thereby avoiding further losses. Here, it should be noted that the rotating shaft 3 cooperates with the telescopic assembly to drive the two clamps 24 to place all detected defective workpieces one by one into the plurality of accommodating cavities.

[0050] Reference Figures 1 to 8 As shown, the driving assembly includes a DC motor 33, a first gear 34 and a second gear 35. The DC motor 33 is inserted into the top of the housing 2, the first gear 34 is fixed on the output end thereof, the second gear 35 is fixed on the rotating shaft 3, the first gear 34 and the second gear 35 are meshed and connected, and the diameter of the first gear 34 is smaller than the diameter of the second gear 35. The DC motor 33 is electrically connected to the controller. When it is determined that there is no defect in the workpiece, that is, when it is determined to be a good workpiece, the DC motor 33 is started by the controller, so that the first gear 34 on the output end thereof rotates clockwise. Since the first gear 34 It is meshed with the second gear 35, and the second gear 35 is fixedly connected to the rotating shaft 3, and then the rotating shaft 3 is driven to rotate counterclockwise through the second gear 35. Since the top of the rotating shaft 3 is fixedly connected to the support plate 4, the screening mechanism is arranged on the support plate 4, and then the clamped good workpiece is driven to rotate toward the end close to the second conveyor 40. When the two rotating clamps 24 drive the clamped good workpiece to rotate between the two baffles 37 above the second conveyor 40, the two clamps 24 are loosened through the controller to prevent the good workpiece from passing through the passage between the two baffles 37, and the good workpiece is discharged through the second conveyor 40.

[0051] Reference Figures 1 to 8 As shown, a second conveyor 40 is provided beside the first conveyor 39, and conveyor belts 36 are provided on the tops of the first conveyor 39 and the second conveyor 40. Two baffles 37 are symmetrically provided on the tops of the first conveyor 39 and the second conveyor 40. The first conveyor 39 is used to convey workpieces, and the second conveyor 40 is used to discharge good workpieces that meet the inspection requirements. When defect inspection of the workpiece is performed, the workpiece is first placed between the two baffles 37 on the first conveyor 39, and the channel between the two baffles 37 forms a conveying path, thereby ensuring that the workpieces are conveyed to the screening mechanism in a line-up state for easy grasping, and the two baffles 37 play a limiting role.

[0052] Reference Figures 1 to 8 As shown, a plurality of anti-slip strips 38 are fixedly provided on the outer wall of each clamping plate 24, and the plurality of anti-slip strips 38 serve to increase friction, thereby ensuring that the two clamping plates 24 can clamp the workpiece more tightly, preventing slippage during defect detection, and improving detection efficiency.

[0053] The working principle of the present invention is as follows: the first conveyor 39 is used to convey workpieces, and the second conveyor 40 is used to discharge good workpieces that meet the inspection requirements. When performing defect inspection on the workpiece, the workpiece is first placed between the two baffles 37 on the first conveyor 39. The channel between the two baffles 37 forms a conveying path, thereby ensuring that the workpieces are conveyed to the screening mechanism in a line-up state for easy grasping. The two baffles 37 play a limiting role.

[0054] When the workpiece is transported to and close to the collection box 6, the first electric push rod 9 is started by the controller, so that its output end extends to the end away from the support arm 10. Since one of the support arms 10 and the two second articulated arms 12 are respectively connected to the two ends of the first electric push rod 9, the two support arms 10 are fixedly connected to the support plate 4, and each support arm 10 and one second articulated arm 12 are respectively connected to the two ends of a first articulated arm 11, thereby driving the first articulated arm 11 and the second articulated arm 12 to expand obliquely downward toward the end close to the workpiece, that is, to approach the workpiece.

[0055] When the two second articulated arms 12 drive the two clamps 24 to approach the workpiece, the micromotor 21 is started through the controller, so that its output end drives the bidirectional screw 22 fixedly connected to it to rotate, and two ends of the bidirectional screw 22 are symmetrically provided with two threaded sections with different rotation directions. Since one end of each clamp 24 is slidably connected to a slide rail 23, one end of each clamp 24 is threadedly connected to one end of the bidirectional screw 22, and the bidirectional screw 22 is rotatably connected to the two limit blocks, the two clamps 24 are driven to approach each other and clamp the workpiece. Several anti-slip strips 38 play a role in increasing friction, thereby ensuring that the two clamps 24 can clamp the workpiece tighter, prevent slipping during detection, and improve detection efficiency.

[0056] When the two clamps 24 clamp the workpiece, the industrial camera 5 is started through the controller to take a picture of the outer wall of one end of the workpiece, and the diffuse scattering light source 19 is started to illuminate the workpiece to improve the clarity of the picture and prevent blurry pictures caused by insufficient light. When one side is taken, the second electric push rod 15 is started through the controller, so that it extends to the end close to the cover 2 through the push block 16 on its output end. Since its output end is fixedly connected to the rack 13 through the push block 16 and the connecting rod, the rack 13 is slidably connected to the guide rail 17, the bevel gear 14 is fixedly connected to the rotating rod 18, and the bevel gear 14 is meshed with the rack 13, thereby driving the rotating rod 18 to rotate counterclockwise. Since the two clamps 24 are fixedly connected to the support plate 20, the support plate 20 is fixedly connected to the rotating rod 18 through two adapter blocks, thereby driving the two clamps 24 and the clamped workpiece to rotate counterclockwise, so that the industrial camera 5 can take pictures of the outer wall of the other end of the workpiece, and then the pictures taken at both ends are compared with the image standard values ​​of both ends preset in the controller.

[0057] When a workpiece is determined to be free of defects, that is, when it is determined to be a good workpiece, the DC motor 33 is started by the controller, so that the first gear 34 on its output end rotates clockwise. Since the first gear 34 is meshed with the second gear 35, the second gear 35 is fixedly connected to the rotating shaft 3, and then the rotating shaft 3 is driven to rotate counterclockwise through the second gear 35. Since the top of the rotating shaft 3 is fixedly connected to the support plate 4, the screening mechanism is arranged on the support plate 4, and then the clamped good workpiece is driven to rotate toward the end close to the second conveyor 40. When the two rotating clamps 24 drive the clamped good workpiece to rotate between the two baffles 37 above the second conveyor 40, the two clamps 24 are loosened by the controller to prevent the good workpiece from passing through the passage between the two baffles 37, and the good workpiece is discharged through the second conveyor 40.

[0058] When it is determined that the workpiece has defects, that is, it is a defective product, the workpiece is first rotated to a horizontal clamping state through the angle adjustment component, and then the two clamping plates 24 and the clamped defective workpiece are driven to grab the end close to the collection box 6 through the telescopic component. When the distance sensor 7 detects that the defective workpiece is grabbed to the top of the flat groove 31 inside the collection box 6, the signal is sent to the controller, so that the two clamping plates 24 are loosened through the controller, and the defective workpiece is placed horizontally on the top of the flat groove 31. Then, the servo motor 25 is started through the controller, so that its output end drives the turntable 26 to rotate counterclockwise. Since the connecting rod 27 is hinged to the top of the turntable 26, the connecting rod 27 is driven to rotate counterclockwise.

[0059] When the connecting rod 27 rotates counterclockwise, since the outer wall of the end of the collecting box 6 away from the cover shell 2 is symmetrically designed with two slide grooves, the end of the connecting rod 27 away from the turntable 26 is hinged to the top of one of the sliders 29, and each slider 29 is slidably connected to a slide groove. The two ends of the push plate 28 are respectively fixedly connected to the two sliders 29, thereby pushing the defective workpiece placed on the top of the flat groove 31 from the flat groove 31 to the inclined groove 30.

[0060] When the defective workpiece placed on the top of the flat groove 31 is pushed from the flat groove 31 to the inclined groove 30, since the top of the inclined groove 30 is designed with several accommodating cavities at equal intervals through several partitions 32, the defective workpiece is pushed into the inside of one of the accommodating cavities. Several accommodating cavities can prevent several rows of defective workpieces, and thus prevent them from colliding and being damaged by subsequently placed defective workpieces, causing secondary damage, aggravating the degree of defects and affecting subsequent rework or even causing damage, thereby avoiding further losses. Here, it should be noted that the rotating shaft 3 cooperates with the telescopic assembly to drive the two clamps 24 to place all detected defective workpieces one by one into several accommodating cavities.

Claims

1. An expandable multi-joint universal intelligent robot, characterized in that: It comprises a robot (1) arranged on the top of a first conveyor, wherein the robot (1) comprises a controller, a rotating mechanism, a screening mechanism and an expanding mechanism; A cover shell (2) is fixedly provided on the top of the first conveyor, a protective shell is fixedly provided on the top of the cover shell (2), a rotating mechanism is arranged inside the protective shell, the rotating mechanism comprises a rotating shaft (3) and a driving assembly, the rotating shaft (3) is rotatably arranged between the top of the cover shell (2) and the protective shell, the driving assembly is arranged between the cover shell (2) and the rotating shaft (3), and a supporting plate (4) is fixedly provided on the top of the rotating shaft (3); The screening mechanism is arranged on the top of the rotating mechanism, and the screening mechanism comprises an industrial camera (5), a telescopic component, an angle adjustment component and a grabbing component, the telescopic component is arranged on the top of the support plate (4), the angle adjustment component is arranged on the telescopic component, the grabbing component is arranged on the angle adjustment component, and the industrial camera (5) is fixedly arranged on the angle adjustment component; The expansion mechanism is arranged on the outer wall of the protective shell, and the expansion mechanism comprises a collection box (6), a distance sensor (7), a traction component and a pushing component. The collection box (6) is fixedly arranged on the outer wall of one end of the cover shell (2), the distance sensor (7) is fixedly arranged on the outer wall of one end of the protective shell close to the telescopic component, a cantilever (8) is fixedly arranged on the outer wall of the protective shell, the pushing component is arranged inside the collection box (6), and the traction component is arranged between the cantilever (8) and the pushing component. The industrial camera (5), the distance sensor (7), the driving component, the telescopic component, the angle adjustment component, the grabbing component and the traction component are all electrically connected to the controller.

2. The expandable multi-joint universal intelligent robot according to claim 1, characterized in that: The telescopic assembly comprises a first electric push rod (9), two support arms (10), two first hinged arms (11) and two second hinged arms (12); the two support arms (10) are fixed on the top of the support plate (4); the two first hinged arms (11) are hingedly arranged on the top of the two support arms (10); each second hinged arm (12) is hingedly arranged at one end of a first hinged arm (11) away from the support arm (10); the first electric push rod (9) is hingedly arranged between one of the support arms (10) and the two second hinged arms (12); and the first electric push rod (9) is electrically connected to a controller.

3. The expandable multi-joint universal intelligent robot according to claim 2, characterized in that: The angle adjustment assembly comprises a rack (13), a bevel gear (14), a second electric push rod (15), a push block (16), a guide rail (17) and a rotating rod (18). The rotating rod (18) is rotatably arranged between the ends of the two second hinged arms (12) away from the first hinged arm (11). The bevel gear (14) is fixedly arranged on the outer wall of the rotating rod (18). The guide rail (17) is fixedly arranged on the outer wall of one of the second hinged arms (12). The rack (13) is slidably arranged at the bottom of the rack (13). The bevel gear (14) and the rack (11) are rotatably arranged between the ends of the two second hinged arms (12) away from the first hinged arm (11). 3) meshing connection, the second electric push rod (15) is fixedly arranged on the top of the guide rail (17), the push block (16) is fixedly arranged on the output end thereof, the top of the guide rail (17) is provided with an avoidance notch for the push block (16) to slide, the bottom of the push block (16) is fixedly connected to the rack (13) through a connecting rod, a support rod is fixedly arranged on the outer wall of the guide rail (17), the industrial camera (5) is fixedly arranged on the support rod, a diffuse scattering light source (19) is also fixedly arranged on the outer wall of the support rod, and the second electric push rod (15) is electrically connected to the controller.

4. The expandable multi-joint universal intelligent robot according to claim 3, characterized in that: The grabbing assembly comprises a support plate (20), a micro motor (21), a bidirectional screw rod (22), two slide rails (23) and two clamping plates (24); the support plate (20) is fixedly arranged on the outer wall of the rotating rod (18) through two adapter blocks; the two slide rails (23) are fixedly arranged on the support plate (20); each clamping plate (24) is slidably arranged on one slide rail (23); two limit blocks are fixedly arranged on the outer wall of the support plate (20); the bidirectional screw rod (22) is rotatably arranged between the two limit blocks; the micro motor (21) is fixedly arranged on the outer wall of one of the limit blocks; the output end of the micro motor (21) is fixedly connected to one end of the bidirectional screw rod (22); the two clamping plates (24) are respectively threadedly connected to the two ends of the bidirectional screw rod (22); the industrial camera (5) faces the two clamping plates (24); and the micro motor (21) is electrically connected to the controller.

5. The expandable multi-joint universal intelligent robot according to claim 4, characterized in that: The traction assembly comprises a servo motor (25), a rotating disk (26) and a connecting rod (27); the servo motor (25) is fixed on the outer wall of the cantilever (8); the rotating disk (26) is fixed on the output end thereof; the connecting rod (27) is hingedly arranged on the top of the rotating disk (26); and the servo motor (25) is electrically connected to a controller.

6. The expandable multi-joint universal intelligent robot according to claim 5, characterized in that: The pushing assembly comprises a pushing plate (28) and two sliding blocks (29). Two sliding grooves are symmetrically arranged on the outer wall of the end of the collecting box (6) away from the cover shell (2). Each sliding block (29) is slidably arranged in one sliding groove. The pushing plate (28) is fixedly arranged between the two sliding blocks (29). The end of the connecting rod (27) away from the rotating disk (26) is hinged to the top of one of the sliding blocks (29).

7. The expandable multi-joint universal intelligent robot according to claim 6, characterized in that: The interior of the collection box (6) is integrally formed with an inclined groove (30) and a flat groove (31), and a plurality of accommodating cavities are arranged at equal intervals on the top of the inclined groove (30) via a plurality of partitions (32).

8. The expandable multi-joint universal intelligent robot according to claim 7, characterized in that: The driving assembly comprises a DC motor (33), a first gear (34) and a second gear (35); the DC motor (33) is inserted into the top of the housing (2); the first gear (34) is fixed on the output end thereof; the second gear (35) is fixed on the rotating shaft (3); the first gear (34) and the second gear (35) are meshedly connected; the diameter of the first gear (34) is smaller than the diameter of the second gear (35); and the DC motor (33) is electrically connected to a controller.

9. The expandable multi-joint universal intelligent robot according to claim 8, characterized in that: A second conveyor (40) is arranged beside the first conveyor (39), a conveyor belt (36) is arranged on the top of each of the first conveyor (39) and the second conveyor (40), and two baffles (37) are symmetrically arranged on the top of each of the first conveyor (39) and the second conveyor (40).

10. The expandable multi-joint universal intelligent robot according to claim 9, characterized in that: A plurality of anti-slip strips (38) are fixedly provided on the outer wall of each clamping plate (24).

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