A robot vision inspection device with focal length adjustment function according to thickness

Abstract

The present invention discloses a robot vision detection device with a function of adjusting focal length according to thickness, and relates to the technical field of robot vision detection devices. It includes a chassis, an electric slide rail, a multi-axis robot, a clamping device, an integrated support and an industrial camera. The present invention uses an opener to synchronously drive the first adjustment ring and the second adjustment ring to rotate. The first adjustment ring and the second adjustment ring synchronously drive the first change plate and the second change plate to move, completing the synchronous closure of the upper and lower openings of the cooling flow channel. At the same time, the second change plate moves to open the purge flow channel, achieving the purpose of airway regulation and switching; and the second adjustment ring can also synchronously drive the sliding part to slide, and the sliding part drives the purge filler to expand and retract, so that the purge filler can freely switch between cleaning mode and filler mode. The adjustment of the purge filler mode can not only provide a detection light source for the industrial camera and improve the imaging clarity, but also clean the lens and improve the imaging accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of robot vision detection devices, in particular to a robot vision detection device with a function of adjusting focal length according to thickness. Background Art

[0002] Robotic vision inspection devices are the product of the combination of robotics technology and computer vision technology. They play a vital role in industrial automation, intelligent manufacturing, quality inspection and other fields. Robotic vision inspection devices can quickly and accurately identify the shape, color, texture and other features of the target object, and determine its position and posture in three-dimensional space.

[0003] However, current visual inspection devices still have many problems after long-term use. When industrial cameras run for a long time, they tend to overheat, resulting in reduced imaging speed or even freezing. In addition, dust easily adheres to the lens of industrial cameras, causing blurred imaging and reduced accuracy. Although there are some heat dissipation devices and dust cleaning devices on the market, these devices have low integration and are difficult to adapt. Even if these devices can be installed and used together, they will increase the load on the robot, increase the vibration during robot movement, and reduce detection stability. Summary of the Invention

[0004] The object of the present invention is to provide a robot vision inspection device with a function of adjusting focal length according to thickness, so as to solve the problems raised in the prior art.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solution: a robot visual inspection device with a focal length adjustment function according to thickness, comprising a chassis, an electric slide rail installed in the chassis, a clamping device slidably installed on the electric slide rail, a multi-axis robot installed in the chassis, an integrated support installed at the end of the multi-axis robot, and an industrial camera installed on the integrated support.

[0006] The chassis houses a control system that controls the entire visual inspection system. The industrial camera is equipped with a zoom lens that automatically adjusts its focal length based on the thickness of the workpiece. A clamping device holds the workpiece; an electric slide guides the clamped workpiece to the vicinity of the multi-axis robot. The multi-axis robot, via an integrated support, drives the industrial camera for position adjustment.

[0007] During inspection, the workpiece is clamped by a clamping device, and the electric slide drives the workpiece on the clamping device to move to the vicinity of the multi-axis robot. The multi-axis robot drives the industrial camera on the integrated support close to the workpiece, and the industrial camera automatically adjusts the focal length to complete the visual inspection of the workpiece.

[0008] The integrated support includes a base, one end of the base is connected to the end of the multi-axis robot, and a main support is installed at the other end of the base. A pneumatic component is installed between the main support and the base. An opener and closer is installed in the main support. The first lane changing component and the second lane changing component are respectively installed in the main support. The first lane changing component is connected to the opener and closer, and the second lane changing component is connected to the first lane changing component. A limiting part is installed on the main support, and a purge and fill light device is rotatably installed on the limiting part. The purge and fill light device is connected to the second lane changing component, and the second lane changing component is rotatably connected to the limiting part. A first air pipe is installed on the main support, and an industrial camera is installed on the main support.

[0009] The pneumatic assembly includes a drive motor and a gear ring. The drive motor is installed in the base. A purge chamber is provided on the main support. The gear ring is rotatably installed in the purge chamber. A number of blades are provided on the gear ring. A gear is installed on the output shaft of the drive motor. The gear and the gear ring are engaged for transmission. A number of air outlets are provided on the main support. The air outlets are located at the bottom of the purge chamber. A number of air inlets are provided on the main support. A number of cooling flow channels are provided in the main support. The cooling flow channels are connected to the air inlets. The air inlets and the air outlets are connected through a first air pipe. A number of air inlets are provided on the base.

[0010] A temperature detector is installed in the cooling flow channel to detect the temperature in the cooling flow channel.

[0011] The industrial camera body is installed in the main support, and the cooling flow channel is arranged around the industrial camera body. When the camera overheats during continuous operation, the heat generated is transferred to the cooling flow channel. After the temperature detector detects that the temperature is too high, the control system starts the drive motor, and the output shaft of the drive motor drives the gear to rotate, the gear drives the gear ring to rotate, and the gear ring drives the blade to rotate. The rotation of the blade drives the air in the purge chamber to flow rapidly. The air enters the purge chamber from the air inlet of the base, and then enters the first air pipe from the air outlet at the bottom of the purge chamber. The first air pipe introduces the fast-flowing gas into the cooling flow channel through the air inlet. The fast-flowing gas takes away the temperature in the flow channel and flows out from the upper and lower outlets of the cooling flow channel, thereby achieving the purpose of rapidly cooling the surroundings of the industrial camera.

[0012] Furthermore, the first lane changing assembly includes a first adjusting ring and several first limiting side plates. The first adjusting ring is rotatably mounted on the main support, the first limiting side plates are mounted on the main support, the first lane changing plate is slidably mounted between the first limiting side plates, the first spring plate is mounted on the first limiting side plates, one end of the first spring plate is connected to the first lane changing plate, the first adjusting ring is connected to the opener and closer, the first convex plate is provided on the first adjusting ring, the first lane changing plate is provided with a first engaging groove, and the first convex plate is engaged with the first engaging groove.

[0013] Furthermore, the opener and closer includes a sliding shell, a piston rod is slidably installed in the sliding shell, a transmission plate is provided on the first adjustment ring, the piston rod is connected to the transmission plate, a connecting piece is installed on the sliding shell, the connecting piece is connected to the main support, the first adjustment ring is connected to the second lane changing assembly, a channel is provided on the sliding shell, the channel is connected to the supply device through a pipeline, and the supply device is integrated in the main support.

[0014] The supply device is used to input or output a medium into or out of the channel through a pipe. When the supply device fills the channel with medium, the piston rod extends, driving the first adjustment ring to rotate via the transmission plate, causing the plurality of cleaning rods to expand. When the supply device removes the medium from the sliding housing, the first adjustment ring rotates in the opposite direction, causing the plurality of cleaning rods to collapse.

[0015] Furthermore, the second lane changing assembly includes a second adjusting ring and several second limiting side plates. The second adjusting ring is rotatably mounted on the main support. The second adjusting ring is rotatably connected to the limiting member. The second adjusting ring is provided with an arc groove. The second adjusting ring is slidingly connected to the purge filler through the arc groove. A second lane changing piece is slidingly mounted between the second limiting side plates. The second lane changing piece is engaged with the second adjusting ring. A second spring piece is installed on the second limiting side plate. One end of the second spring piece is connected to the second lane changing piece. The second limiting side plate is installed on the main support. A purge hole is provided on the second lane changing piece.

[0016] The first channel-changing plate is located on the upper outlet side of the cooling channel, and the second channel-changing plate is located on the lower outlet side of the cooling channel. When the first and second channel-changing plates block the cooling channel, the first and second spring plates are in a compressed and bent state. When the blockage is released, the first and second spring plates rebound, respectively driving the first and second channel-changing plates to return to their original positions.

[0017] When dust adheres to the lens of the industrial camera, the control system turns on the supply device, which draws the medium out of the sliding housing through the channel. The pressure in the sliding housing decreases, and the piston rod retracts in the sliding housing. The piston rod drives the first adjustment ring to rotate in the opposite direction through the transmission plate, and the first adjustment ring synchronously drives the second adjustment ring to rotate through the connecting rod.

[0018] When the first adjusting ring rotates, the first convex plate on it rotates out of the first fitting groove, and at the same time, the first convex plate pushes the first channel changing plate to slide between the two first limiting side plates, so that the first limiting side plates block the upper outlet of the cooling flow channel;

[0019] Similarly, the second adjustment ring drives the second channel changer to move and block the lower outlet of the cooling channel. At the same time, after the second channel changer slides, the purge holes and purge channels, which were originally staggered, begin to align with each other, the purge channel opens, and the cooling channel closes, completing the adjustment and switching of the air channel.

[0020] When the second adjusting ring rotates, the arc groove on it rotates, and the rotation of the arc groove drives the sliding column on the sliding part to slide in the limit rod, and several sliding parts slide away from each other, and the sliding part drives the end of the cleaning rod connected to it to move. Since the rotating rod passes through the movable groove on the cleaning rod, when one end of the cleaning rod moves, the entire cleaning rod deflects around the rotating rod, and the end of the cleaning rod equipped with the cleaning nozzle approaches each other as it rotates until the cleaning nozzle is aligned with the lens of the industrial camera, thereby achieving the purpose of changing the purge fill light device from an expanded state to a retracted state, the cleaning mode is turned on, and the fill light mode is turned off.

[0021] Furthermore, the limiting part includes a limiting ring, which is installed on the main support, and a number of limiting rods are installed on the limiting ring. The purge light filler is slidably connected to the limiting rod. A rotating part is installed on the limiting ring, and a rotating rod is installed on the rotating part. The purge light filler is movably connected to the rotating rod, and the second adjustment ring is rotatably connected to the limiting ring.

[0022] Furthermore, the purge filler light device includes a cleaning rod, a sliding part is rotatably installed at one end of the cleaning rod, a filler light head is installed at the other end of the cleaning rod, the sliding part is slidably connected to the limit rod, the sliding part is slidably connected to the arc groove, a cleaning nozzle is provided on the cleaning rod, a movable groove is provided on the cleaning rod, the cleaning rod is movably connected to the rotating rod through the movable groove, a cleaning flow channel is provided in the cleaning rod, one end of the cleaning flow channel is connected to a second air pipe, the second air pipe is connected to the purge hole, and the other end of the cleaning flow channel is connected to the cleaning nozzle.

[0023] After the cleaning mode is turned on, the control system turns on the pneumatic device, and the airflow enters the cooling flow channel. Since the upper and lower outlets of the cooling flow channel are closed, the airflow is blown out along the purge flow channel connected to it. The airflow flows from the purge flow channel through the second air pipe into the cleaning flow channel, and then is ejected from the cleaning nozzle through the cleaning flow channel. The ejected airflow sweeps the surface of the lens, quickly removing the dust on the lens, achieving the purpose of self-cleaning of the lens, avoiding manual wiping and affecting the detection speed.

[0024] After cleaning the lens, repeat the previous operation in reverse to expand the cleaning rod. The control system controls the fill light head to turn on, providing a detection light source for the industrial camera to improve the image clarity.

[0025] Furthermore, the sliding member includes a sliding plate, which is slidably connected to the limit rod, a connecting seat is installed on the sliding plate, the connecting seat is rotatably connected to the cleaning rod, a sliding column is installed on the sliding plate, and the sliding column is slidably installed in the arc groove.

[0026] Furthermore, a connecting rod is installed between the second adjustment ring and the first adjustment ring, a rotation groove is provided on the main support, the connecting rod passes through the rotation groove, the connecting rod and the rotation groove are movably connected, a purge flow channel is provided in the main support, and the purge flow channel is connected to the cooling flow channel.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1. The opener and closer synchronously drive the first and second adjustment rings to rotate. The first and second adjustment rings synchronously drive the first and second channel changing plates to move, completing the synchronous closing of the upper and lower openings of the cooling channel. At the same time, the second channel changing plate moves to open the purge channel, achieving the purpose of airway adjustment and switching. The second adjustment ring can also synchronously drive the sliding part to slide, and the sliding part drives the purge and fill light device to expand and contract, so that the purge and fill light device can freely switch between cleaning mode and fill light mode, achieving the synchronization of airway switching and purge and fill light device mode switching, thereby improving detection efficiency.

[0029] 2. During cleaning, the cleaning flow channel is opened, and the airflow generated by the pneumatic device is introduced into the cleaning flow channel through the cooling flow channel, and then ejected from the cleaning nozzle through the cleaning flow channel. The ejected airflow sweeps the surface of the lens, quickly removing the dust on the lens, achieving the purpose of self-cleaning of the lens, avoiding manual wiping and affecting the detection speed.

[0030] 3. During testing, the cooling channel is opened, and the driving motor is used to drive the blades to rotate, so that the air in the purge chamber is accelerated to flow, and the air flow is introduced into the cooling channel through the first air pipe. The fast-flowing gas takes away the temperature in the channel, thereby achieving the purpose of quickly cooling the surrounding area of ​​the industrial camera.

[0031] 4. The adjustment of the purge fill light mode can not only provide a detection light source for the industrial camera to improve the imaging clarity, but also clean the lens and improve the imaging accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is an overall three-dimensional diagram of the visual inspection device of the present invention;

[0033] Figure 2 is a perspective view of the visual inspection device of the present invention;

[0034] Figure 3 The three-dimensional integrated support of the present invention Figure 1 ;

[0035] Figure 4 The three-dimensional integrated support of the present invention Figure 2 ;

[0036] Figure 5 is a perspective view of the pneumatic assembly of the present invention;

[0037] Figure 6 is a three-dimensional diagram of the opener and closeer of the present invention;

[0038] Figure 7 For the present invention Figure 6 A partial enlarged view of area A in the middle;

[0039] Figure 8 is a perspective view of a first lane changing assembly of the present invention;

[0040] Figure 9 is a perspective view of a second lane changing assembly of the present invention;

[0041] Figure 10 A three-dimensional diagram of the limiting member of the present invention

[0042] Figure 11 The present invention is a three-dimensional blowing filler Figure 1 ;

[0043] Figure 12 The present invention is a three-dimensional blowing filler Figure 2 ;

[0044] Figure 13 The main support of the present invention is a three-dimensional Figure 1 ;

[0045] Figure 14 is a perspective view of the first adjustment ring and the second adjustment ring of the present invention;

[0046] Figure 15 The main support of the present invention is a three-dimensional Figure 2 .

[0047] In the figure: 1. chassis; 2. electric slide; 3. multi-axis robot; 4. clamping device; 5. integrated support; 6. industrial camera; 51. base; 52. pneumatic component; 53. opener and closer; 54. first lane-changing component; 55. second lane-changing component; 56. limiter; 57. main support; 58. purge light filler; 59. first air pipe; 521. drive motor; 522. gear; 523. gear ring; 524. blade; 531. connector; 532. sliding housing; 533. piston rod; 534. channel; 541. first adjusting ring; 542. first spring plate; 543. first limit side plate; 544. first lane-changing plate; 5411. transmission plate; 5412. first convex plate; 5441. first fitting groove ;551. Second adjusting ring;552. Second limiting side plate;553. Second spring plate;554. Second channel changing plate;5541. Purge hole;5511. Arc groove;561. Limiting ring;562. Limiting rod;563. Rotating member;564. Rotating rod;571. Purge chamber;572. Air outlet;573. Cooling flow channel;574. Air inlet;575. Rotating groove;576. Purge flow channel;577. Connecting rod;581. Sliding member;582. Cleaning rod;583. Fill light head;584. Second air pipe;585. Cleaning nozzle;5811. Sliding column;5812. Sliding plate;5813. Connecting seat;511. Air inlet;5821. Cleaning flow channel;5822. Movable groove. DETAILED DESCRIPTION

[0048] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0049] like Figures 1-15 As shown, the present invention provides a technical solution for a robot visual inspection device with a focal length adjustment function according to thickness: it includes a chassis 1, an electric slide rail 2 is installed in the chassis 1, a clamping device 4 is slidably installed on the electric slide rail 2, a multi-axis robot 3 is installed in the chassis 1, an integrated support 5 is installed at the end of the multi-axis robot 3, and an industrial camera 6 is installed on the integrated support 5.

[0050] Chassis 1 houses a control system for controlling the entire visual inspection system. Industrial camera 6 is equipped with a zoom lens that automatically adjusts its focal length based on the thickness of the workpiece. A clamping device 4 is used to clamp the workpiece. An electric slide 2 guides the clamped workpiece toward a multi-axis robot 3, which then adjusts its position via an integrated support 5.

[0051] The integrated support 5 includes a base 51, one end of the base 51 is connected to the end of the multi-axis robot 3, and a main support 57 is installed at the other end of the base 51. A pneumatic component 52 is installed between the main support 57 and the base 51, and an opener and closer 53 is installed in the main support 57. The first lane changing component 54 and the second lane changing component 55 are respectively installed in the main support 57. The first lane changing component 54 is connected to the opener and closer 53, and the second lane changing component 55 is connected to the first lane changing component 54. A limiting member 56 is installed on the main support 57, and a purge light filler 58 is rotatably installed on the limiting member 56. The purge light filler 58 is connected to the second lane changing component 55, and the second lane changing component 55 is rotatably connected to the limiting member 56. A first air pipe 59 is installed on the main support 57, and the industrial camera 6 is installed on the main support 57.

[0052] The pneumatic assembly 52 includes a drive motor 521 and a gear ring 523. The drive motor 521 is installed in the base 51. A purge chamber 571 is provided on the main support 57. The gear ring 523 is rotatably installed in the purge chamber 571. A plurality of blades 524 are provided on the gear ring 523. A gear 522 is installed on the output shaft of the drive motor 521. The gear 522 is engaged with the gear ring 523 for transmission. A plurality of air outlet holes 572 are provided on the main support 57. The air outlet holes 572 are located at the bottom end of the purge chamber 571. A plurality of air inlets 574 are provided on the main support 57. A plurality of cooling flow channels 573 are provided in the main support 57. The cooling flow channels 573 are connected to the air inlet 574. The air inlet 574 and the air outlet hole 572 are connected through a first air pipe 59. A plurality of air inlet channels 511 are provided on the base 51.

[0053] A temperature detector is installed in the cooling flow channel 573 for detecting the temperature in the cooling flow channel 573 .

[0054] The first lane changing assembly 54 includes a first adjusting ring 541 and a plurality of first limiting side plates 543. The first adjusting ring 541 is rotatably mounted on the main support 57. The first limiting side plates 543 are mounted on the main support 57. The first lane changing plate 544 is slidably mounted between the first limiting side plates 543. A first spring plate 542 is mounted on the first limiting side plates 543. One end of the first spring plate 542 is connected to the first lane changing plate 544. The first adjusting ring 541 is connected to the opener 53. A first convex plate 5412 is provided on the first adjusting ring 541. The first lane changing plate 544 is provided with a first engaging groove 5441. The first convex plate 5412 is engaged with the first engaging groove 5441.

[0055] The opener and closer 53 includes a sliding housing 532, in which a piston rod 533 is slidably installed. A transmission plate 5411 is provided on the first adjustment ring 541, and the piston rod 533 is connected to the transmission plate 5411. A connecting member 531 is installed on the sliding housing 532, and the connecting member 531 is connected to the main support 57. The first adjustment ring 541 is connected to the second lane changing assembly 55. A channel 534 is provided on the sliding housing 532, and the channel 534 is connected to a supply device through a pipeline. The supply device is integrated in the main support 57.

[0056] The supply device is used to input or output medium into the channel 534 through the pipeline. When the supply device fills the channel 534 with medium, the piston rod 533 extends, driving the first adjustment ring 541 to rotate via the transmission plate 5411, thereby expanding the plurality of cleaning rods 582. When the supply device removes medium from the sliding housing 532, the first adjustment ring 541 rotates in the opposite direction, thereby retracting the plurality of cleaning rods 582.

[0057] The second lane-changing assembly 55 includes a second adjusting ring 551 and several second limiting side plates 552. The second adjusting ring 551 is rotatably mounted on the main support 57. The second adjusting ring 551 is rotatably connected to the limiting member 56. The second adjusting ring 551 is provided with an arc groove 5511. The second adjusting ring 551 is slidingly connected to the purge filler 58 through the arc groove 5511. A second lane-changing piece 554 is slidably mounted between the second limiting side plates 552. The second lane-changing piece 554 is engaged with the second adjusting ring 551. A second spring piece 553 is mounted on the second limiting side plate 552. One end of the second spring piece 553 is connected to the second lane-changing piece 554. The second limiting side plate 552 is mounted on the main support 57. The second lane-changing piece 554 is provided with a purge hole 5541.

[0058] A connecting rod 577 is installed between the second adjusting ring 551 and the first adjusting ring 541. A rotating groove 575 is provided on the main support 57. The connecting rod 577 passes through the rotating groove 575. The connecting rod 577 is movably connected to the rotating groove 575. A purge flow channel 576 is provided in the main support 57. The purge flow channel 576 is connected to the cooling flow channel 573.

[0059] The first channel changing piece 544 is located at the upper outlet of the cooling channel 573, and the second channel changing piece 554 is located at the lower outlet of the cooling channel 573. When the first channel changing piece 544 and the second channel changing piece 554 block the cooling channel 573, the first spring piece 542 and the second spring piece 553 are in a compressed state. When the blockage is released, the first spring piece 542 and the second spring piece 553 rebound, respectively driving the first channel changing piece 544 and the second spring piece 554 to return to their original position.

[0060] The limiting member 56 includes a limiting ring 561, which is installed on the main support 57. A number of limiting rods 562 are installed on the limiting ring 561. The purge light filler 58 is slidably connected to the limiting rod 562. A rotating member 563 is installed on the limiting ring 561. A rotating rod 564 is installed on the rotating member 563. The purge light filler 58 is movably connected to the rotating rod 564. The second adjustment ring 551 is rotatably connected to the limiting ring 561.

[0061] The purge filler light device 58 includes a cleaning rod 582, a sliding member 581 is rotatably installed at one end of the cleaning rod 582, and a filler light head 583 is installed at the other end of the cleaning rod 582. The sliding member 581 is slidably connected to the limit rod 562, and the sliding member 581 is slidably connected to the arc groove 5511. A cleaning nozzle 585 is provided on the cleaning rod 582, and a movable groove 5822 is provided on the cleaning rod 582. The cleaning rod 582 is movably connected to the rotating rod 564 through the movable groove 5822. A cleaning flow channel 5821 is provided in the cleaning rod 582, and one end of the cleaning flow channel 5821 is connected to the second air pipe 584, and the second air pipe 584 is connected to the purge hole 5541. The other end of the cleaning flow channel 5821 is connected to the cleaning nozzle 585.

[0062] The sliding member 581 includes a sliding plate 5812, which is slidingly connected to the limiting rod 562. A connecting seat 5813 is installed on the sliding plate 5812, and the connecting seat 5813 is rotatably connected to the cleaning rod 582. A sliding column 5811 is installed on the sliding plate 5812, and the sliding column 5811 is slidably installed in the arc groove 5511.

[0063] The working principle of the present invention is as follows: during inspection, the workpiece is clamped by the clamping device 4, the electric slide rail 2 drives the workpiece on the clamping device 4 to move to the vicinity of the multi-axis robot 3, the multi-axis robot 3 drives the industrial camera 6 on the integrated support 5 close to the workpiece, and the industrial camera 6 automatically adjusts the focal length to complete the visual inspection of the workpiece.

[0064] The body of the industrial camera 6 is mounted within the main support 57, and the cooling channel 573 is arranged around the body of the industrial camera 6. When the camera overheats during continuous operation, the heat generated is transferred to the cooling channel 573. After the temperature detector detects that the temperature is too high, the control system turns on the drive motor 521. The output shaft of the drive motor 521 drives the gear 522 to rotate, which in turn drives the gear ring 523 to rotate. The gear ring 523 drives the blades 524 to rotate. The rotation of the blades 524 drives the air in the purge chamber 571 to flow rapidly. The air enters the purge chamber 571 through the air inlet 511 of the base 51, and then enters the first air pipe 59 through the air outlet 572 at the bottom of the purge chamber 571. The first air pipe 59 guides the fast-flowing gas into the cooling channel 573 through the air inlet 574. The fast-flowing gas removes the temperature in the channel and flows out from the upper and lower outlets of the cooling channel 573, thereby achieving the purpose of rapidly cooling the surrounding area of ​​the industrial camera 6.

[0065] When dust adheres to the lens of the industrial camera 6, the control system turns on the supply device, which draws out the medium in the sliding housing 532 through the channel 534. The pressure in the sliding housing 532 decreases, and the piston rod 533 retracts in the sliding housing 532. The piston rod 533 drives the first adjustment ring 541 to rotate in the opposite direction through the transmission plate 5411. The first adjustment ring 541 synchronously drives the second adjustment ring 551 to rotate through the connecting rod 577.

[0066] When the first adjusting ring 541 rotates, the first protruding plate 5412 on it rotates out of the first fitting groove 5441 . At the same time, the first protruding plate 5412 pushes the first channel-changing plate 544 to slide between the two first limiting side plates 543 , so that the first limiting side plates 543 block the upper outlet of the cooling channel 573 .

[0067] Similarly, the second adjustment ring 551 drives the second channel changing piece 554 to move and block the lower outlet of the cooling flow channel 573. At the same time, after the second channel changing piece 554 slides, the purge hole 5541 and the purge flow channel 576, which were originally staggered, begin to align with each other, the purge flow channel 576 is opened, and the cooling flow channel 573 is closed, completing the adjustment and switching of the air channel.

[0068] When the second adjusting ring 551 rotates, the arc groove 5511 thereon rotates. When the arc groove 5511 rotates, it drives the sliding column 5811 on the sliding member 581 to slide in the limit rod 562, and the several sliding members 581 slide away from each other. The sliding member 581 drives the end of the cleaning rod 582 connected to it to move. Since the rotating rod 564 passes through the movable groove 5822 on the cleaning rod 582, when one end of the cleaning rod 582 moves, the entire cleaning rod 582 deflects around the rotating rod 564, and the end of the cleaning rod 582 equipped with the cleaning nozzle 585 approaches each other as it rotates until the cleaning nozzle 585 is aligned with the lens of the industrial camera 6, thereby achieving the purpose of changing the purge fill light device 58 from an expanded state to a retracted state, the cleaning mode is turned on, and the fill light mode is turned off.

[0069] After the cleaning mode is turned on, the control system turns on the pneumatic device, and the airflow enters the cooling channel 573. Since the upper and lower outlets of the cooling channel 573 are closed, the airflow is blown out along the purge channel 576 connected to it. The airflow flows from the purge channel 576 through the second air pipe 584 into the cleaning channel 5821, and is then ejected from the cleaning nozzle 585 through the cleaning channel 5821. The ejected airflow sweeps the surface of the lens, quickly removing the dust on the lens, thereby achieving the purpose of self-cleaning of the lens and avoiding manual wiping that affects the detection speed.

[0070] After the lens is cleaned, the previous operation is repeated in reverse to make the cleaning rod 582 open. The control system controls the fill light head 583 to turn on to provide a detection light source for the industrial camera 6 to improve the imaging clarity.

[0071] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. A robot vision inspection device with a focal length adjustment function according to thickness, characterized in that: The visual inspection device comprises a chassis (1), an electric slide rail (2) is installed in the chassis (1), a clamping device (4) is slidably installed on the electric slide rail (2), a multi-axis robot (3) is installed in the chassis (1), an integrated support (5) is installed at the end of the multi-axis robot (3), and an industrial camera (6) is installed on the integrated support (5); The integrated support (5) includes a base (51), one end of the base (51) is connected to the end of the multi-axis robot (3), the other end of the base (51) is installed with a main support (57), a pneumatic component (52) is installed between the main support (57) and the base (51), an opener (53) is installed in the main support (57), and a first lane-changing component (54) and a second lane-changing component (55) are respectively installed in the main support (57), the first lane-changing component (54) and the opener (53) are installed in the main support (57), and the first lane-changing component (54) and the opener (53) are installed in the main support (57). 3) connection, the second lane-changing assembly (55) is connected to the first lane-changing assembly (54), a limiting member (56) is installed on the main support (57), a purge light filler (58) is rotatably installed on the limiting member (56), the purge light filler (58) is connected to the second lane-changing assembly (55), the second lane-changing assembly (55) is rotatably connected to the limiting member (56), a first air pipe (59) is installed on the main support (57), and the industrial camera (6) is installed on the main support (57); The first lane-changing assembly (54) includes a first adjusting ring (541) and a plurality of first limiting side plates (543), wherein the first adjusting ring (541) is rotatably mounted on the main support (57), the first limiting side plates (543) are mounted on the main support (57), a first lane-changing plate (544) is slidably mounted between the first limiting side plates (543), a first spring plate (542) is mounted on the first limiting side plates (543), one end of the first spring plate (542) is connected to the first lane-changing plate (544), the first adjusting ring (541) is connected to the opener (53), a first convex plate (5412) is provided on the first adjusting ring (541), a first engaging groove (5441) is provided on the first lane-changing plate (544), and the first convex plate (5412) is engaged with the first engaging groove (5441); The opener (53) includes a sliding housing (532), a piston rod (533) is slidably installed in the sliding housing (532), a transmission plate (5411) is provided on the first adjustment ring (541), the piston rod (533) is connected to the transmission plate (5411), a connecting member (531) is installed on the sliding housing (532), the connecting member (531) is connected to the main support (57), the first adjustment ring (541) is connected to the second lane-changing assembly (55), a channel (534) is provided on the sliding housing (532), the channel (534) is connected to a supply device through a pipeline, and the supply device is integrated in the main support (57); The second lane-changing assembly (55) includes a second adjusting ring (551) and a plurality of second limiting side plates (552), wherein the second adjusting ring (551) is rotatably mounted on the main support (57), the second adjusting ring (551) is rotatably connected to the limiting member (56), the second adjusting ring (551) is provided with an arc groove (5511), the second adjusting ring (551) is slidably connected to the purge light filler (58) through the arc groove (5511), a second lane-changing piece (554) is slidably mounted between the second limiting side plates (552), the second lane-changing piece (554) is engaged with the second adjusting ring (551), a second spring piece (553) is mounted on the second limiting side plate (552), one end of the second spring piece (553) is connected to the second lane-changing piece (554), the second limiting side plate (552) is mounted on the main support (57), and the second lane-changing piece (554) is provided with a purge hole (5541); A connecting rod (577) is installed between the second adjustment ring (551) and the first adjustment ring (541); a rotation groove (575) is provided on the main support (57); the connecting rod (577) passes through the rotation groove (575); the connecting rod (577) and the rotation groove (575) are movably connected; a purge flow channel (576) is provided in the main support (57); the purge flow channel (576) is communicated with the cooling flow channel (573).

2. The robot vision inspection device with a thickness-adjustable focal length function according to claim 1, characterized in that: The pneumatic assembly (52) includes a driving motor (521) and a gear ring (523), wherein the driving motor (521) is installed in the base (51), a purge chamber (571) is provided on the main support (57), the gear ring (523) is rotatably installed in the purge chamber (571), a plurality of blades (524) are provided on the gear ring (523), a gear (522) is installed on the output shaft of the driving motor (521), the gear (522) and the gear ring (523) are meshed and driven, and the The main support (57) is provided with a plurality of air outlet holes (572), the air outlet holes (572) are located at the bottom end of the purge chamber (571), the main support (57) is provided with a plurality of air inlets (574), the main support (57) is provided with a plurality of cooling channels (573), the cooling channels (573) are connected to the air inlets (574), the air inlets (574) and the air outlet holes (572) are connected via a first air pipe (59), and the base (51) is provided with a plurality of air inlets (511).

3. The robot vision inspection device with a thickness-adjustable focal length function according to claim 2, characterized in that: The limiting member (56) includes a limiting ring (561), the limiting ring (561) is installed on the main support (57), a plurality of limiting rods (562) are installed on the limiting ring (561), the purge light filler (58) is slidably connected to the limiting rods (562), a rotating member (563) is installed on the limiting ring (561), a rotating rod (564) is installed on the rotating member (563), the purge light filler (58) is movably connected to the rotating rod (564), and the second adjusting ring (551) is rotatably connected to the limiting ring (561).

4. The robot vision inspection device with a thickness-adjustable focal length function according to claim 3, characterized in that: The purge light filler (58) includes a cleaning rod (582), one end of the cleaning rod (582) is rotatably mounted with a sliding member (581), the other end of the cleaning rod (582) is mounted with a light filler head (583), the sliding member (581) is slidably connected to the limit rod (562), the sliding member (581) is slidably connected to the arc groove (5511), a cleaning nozzle (585) is provided on the cleaning rod (582), and the cleaning rod (5 82) is provided with a movable groove (5822), the cleaning rod (582) is movably connected to the rotating rod (564) through the movable groove (5822), a cleaning flow channel (5821) is provided in the cleaning rod (582), one end of the cleaning flow channel (5821) is connected to a second air pipe (584), the second air pipe (584) is connected to the purge hole (5541), and the other end of the cleaning flow channel (5821) is communicated with the cleaning nozzle (585).

5. The robot vision inspection device with a thickness-adjustable focal length function according to claim 4, characterized in that: The sliding member (581) comprises a sliding plate (5812), wherein the sliding plate (5812) is slidably connected to the limiting rod (562), a connecting seat (5813) is mounted on the sliding plate (5812), and the connecting seat (5813) is rotatably connected to the cleaning rod (582), and a sliding column (5811) is mounted on the sliding plate (5812), and the sliding column (5811) is slidably mounted in the arc groove (5511).

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