Quality inspection robot for industrial production

Abstract

The invention provides a quality inspection robot for industrial production, and belongs to the technical field of robots, the quality inspection robot comprises a machine body, a detection cavity is formed in the middle of the machine body, a connecting piece is arranged on the upper portion of the detection cavity, and a first detection assembly is arranged on the connecting piece; the first detection assembly comprises a main telescopic rod, an auxiliary telescopic rod, a first rotating module, a second rotating module and a first camera, a blind groove is formed in the bottom end of the detection cavity, a transparent plate is arranged at the top of the blind groove, a second detection assembly is arranged in the blind groove, and the second detection assembly comprises a second camera. The upper surface, the outer side wall and the inner side wall of the workpiece are shot through the first detection assembly, and the lower surface of the workpiece is shot through the transparent plate through the second detection assembly, so that all-directional shooting quality inspection of the workpiece is achieved, the misjudgment rate is reduced, and the problems that an existing quality inspection robot is fixed in shooting angle or single in shooting angle, detection is incomplete, and the quality inspection efficiency is high are solved. And the misjudgment rate is increased.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, and in particular to a quality inspection robot for industrial production. Background Art

[0002] Workpiece quality inspection is a crucial step in ensuring that parts meet specified quality requirements. Inspection typically covers aspects such as dimensional accuracy, shape, and positional accuracy. A quality inspection robot is a type of automated equipment used in quality inspection that simulates human inspection behavior, enabling rapid and accurate product quality checks.

[0003] Most existing quality inspection robots can only perform photography inspection on the upper part of the workpiece. The shooting angle is fixed or relatively single, and it is impossible to capture the workpiece in all directions, resulting in incomplete inspection and increased misjudgment rate. Summary of the Invention

[0004] An embodiment of the present application provides a quality inspection robot for industrial production, which uses a first detection component to photograph the upper surface, outer wall and inner wall of a workpiece, and uses a second detection component to photograph the lower surface of the workpiece through a transparent plate, thereby achieving all-round quality inspection of the workpiece, reducing the misjudgment rate, and solving the problem that the existing quality inspection robots have fixed or relatively single shooting angles, resulting in incomplete inspection and increased misjudgment rate.

[0005] An embodiment of the present application provides a quality inspection robot for industrial production, comprising a body; A detection chamber is provided in the middle of the body, a connecting piece is provided on the upper part of the detection chamber, and a first detection assembly is provided on the connecting piece. The first detection assembly includes a main telescopic rod, an auxiliary telescopic rod, a first rotating module, a second rotating module and a first camera; The fixed ends of the main telescopic rod and the auxiliary telescopic rod are both rotatably connected to the outer wall of the connecting member, the telescopic end of the auxiliary telescopic rod is rotatably connected to the outer wall of the main telescopic rod, the first rotating module is arranged at the telescopic end of the main telescopic rod, the second rotating module is arranged at the moving end of the first rotating module, and the first camera is arranged at the moving end of the second rotating module, and the first camera is configured to photograph the upper surface and / or outer side wall and / or inner side wall of the workpiece; A blind groove is provided at the bottom end of the detection cavity, and a transparent plate is provided at the top of the blind groove, and the transparent plate is configured to support the workpiece; a second detection component is provided in the blind groove, and the second detection component includes a second camera, and the second camera is configured to photograph the lower surface of the workpiece through the transparent plate.

[0006] In a feasible implementation, the main telescopic rod includes a first rod body and a second rod body, the second rod body is plugged into the first rod body, an end of the first rod body is rotatably connected to the lower surface of the connecting member, and the first rotating module is provided at the outer end of the second rod body; At least three of the auxiliary telescopic rods are evenly distributed around the main telescopic rod, the telescopic ends of at least three of the auxiliary telescopic rods are rotatably connected to the outer wall of the first rod body, and the at least three auxiliary telescopic rods are configured to control the main telescopic rod to tilt in any direction.

[0007] In a feasible implementation, the first rotating module includes a connecting ring, a rotating ring, a first motor and a gear; The connecting ring is provided at the telescopic end of the main telescopic rod, the rotating ring is rotatably connected to the connecting ring, the first motor is provided in the connecting ring, the gear is provided at the output end of the first motor and meshes with the inner wall of the rotating ring, and the second rotating module is connected to the rotating ring; The first motor is configured to drive the rotating ring and the second rotating module to rotate forward and reverse relative to the connecting ring and the main telescopic rod.

[0008] In a feasible implementation, the second rotating module includes a connecting plate, a second motor and a mounting plate; The connecting plate is arranged on the rotating ring, the second motor is arranged on the connecting plate, and the output shaft of the second motor is perpendicular to the rotating axis of the rotating ring; The mounting plate has a connecting surface and a mounting surface that are perpendicular to each other, the connecting surface of the mounting plate being rotatably connected to the outer wall of the connecting plate, and the output shaft of the second motor is connected to the mounting plate, and the first camera is mounted on the mounting surface of the mounting plate; The second motor is configured to drive the mounting plate and the first camera to rotate relative to the rotating ring.

[0009] In a feasible implementation, the quality inspection robot further includes a motion mechanism, a gripper assembly, and a workpiece conveying mechanism to be inspected; The motion mechanism includes a connecting plate, which serves as the connecting member, and the fixed ends of the main telescopic rod and the auxiliary telescopic rod are both rotatably connected to the lower surface of the connecting plate; The workpiece conveying mechanism to be inspected is arranged in the inspection chamber, and the feeding end of the workpiece conveying mechanism to be inspected extends out of the inspection chamber and extends outside the machine body, and the workpiece conveying mechanism to be inspected is configured to convey the external workpiece to be inspected into the machine body; The gripper assembly is disposed on the lower surface of the connecting plate, and the gripper assembly is configured to grip or release a workpiece.

[0010] In a feasible implementation, the quality inspection robot further includes a qualified workpiece conveying mechanism and an unqualified workpiece conveying mechanism; The qualified workpiece conveying mechanism and the unqualified workpiece conveying mechanism are both arranged in the detection cavity, and the discharge ends of the qualified workpiece conveying mechanism and the unqualified workpiece conveying mechanism extend out of the detection cavity and outside the machine body; The qualified workpiece conveying mechanism is configured to convey the qualified workpieces out of the body; the unqualified workpiece conveying mechanism is configured to convey the unqualified workpieces out of the body.

[0011] In a feasible implementation, the motion mechanism further includes a slide rail, a slider, and a driving device; The slide rail is fixed on the top of the detection cavity, the slider is slidably connected to the slide rail, the driving device is arranged on the slider, and the output end of the driving device is connected to the slide rail, and the connecting plate is fixed on the slider.

[0012] In a feasible implementation, the gripper assembly includes a telescopic cylinder, a lifting plate, a vacuum generator, a tube body, a vacuum suction cup, and a telescopic mechanism; The telescopic cylinder is fixed on the connecting plate, and the lifting plate is connected to the moving end of the telescopic cylinder; The lifting plate is provided with through slots, and the plurality of through slots correspond to the plurality of tubes one-to-one, and the plurality of through slots are evenly distributed in the circumferential direction, and the plurality of tubes pass through the corresponding through slots, and the plurality of telescopic mechanisms correspond to the plurality of tubes one-to-one, and the telescopic ends of the plurality of telescopic mechanisms are all connected to the outer wall of the corresponding tube; The vacuum generator is arranged on the lifting plate, the top end of the tube body is connected to the vacuum generator through a telescopic tube, and the vacuum suction cup is fixed on the bottom end of the tube body.

[0013] In a feasible implementation, the workpiece conveying mechanism to be inspected, the motion mechanism, the first detection component, the gripper component and the second detection component constitute a quality inspection system, and multiple groups of the quality inspection systems are provided in the body, and the multiple groups of the quality inspection systems share the qualified workpiece conveying mechanism and the unqualified workpiece conveying mechanism.

[0014] In a feasible implementation, a control console is provided on the top of the machine body moving machine, and a moving mechanism is provided on the bottom of the machine body.

[0015] In a feasible implementation, the top, side walls and bottom surface of the main frame are all provided with closed agricultural greenhouse films.

[0016] An embodiment of the present application provides a quality inspection robot for industrial production, in which a workpiece is placed on a transparent plate, a first detection component is provided on the upper part of the workpiece, and a second detection component is provided on the lower part of the workpiece. The first detection component includes a main telescopic rod, an auxiliary telescopic rod, a first rotating module, a second rotating module, and a first camera. The main telescopic rod is extended and retracted to drive the first camera up and down, and the height position of the first camera is adjusted. The auxiliary telescopic rod is used to drive the main telescopic rod to swing, and the lateral position of the first camera is adjusted. The second rotating module is used to drive the first camera to rotate longitudinally, and the first rotating module is used to drive the first camera to rotate laterally, and the shooting angle of the first camera is adjusted, so that the first camera can shoot the upper surface, outer wall, and inner wall of the workpiece. The second detection component includes a second camera, which is located at the lower part of the transparent plate. The second camera can shoot the lower surface of the workpiece through the transparent plate, thereby realizing all-round shooting quality inspection of the workpiece and reducing the error rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the structure of the quality inspection robot for industrial production provided by this application; Figure 2 This is the main cross-sectional view of the quality inspection robot; Figure 3 is a schematic structural diagram of a first detection component; Figure 4 is a schematic diagram of the first detection component photographing the upper surface of the workpiece; Figure 5 is a schematic diagram of the first detection component photographing the outer side of the workpiece; Figure 6 is a schematic structural diagram of a first rotating module and a second rotating module; Figure 7 This is a top-down cross-sectional view of the quality inspection robot; Figure 8 This is a cross-sectional view from above of the quality inspection robot; Figure 9 is a schematic diagram of the gripper assembly and its connection structure.

[0018] Description of reference numerals: 100-body; 200-movement mechanism; 300-first detection component; 400-transparent plate; 500-second detection component; 600-gripper assembly; 700-conveying mechanism for inspected workpieces; 800-conveying mechanism for qualified workpieces; 900-conveying mechanism for unqualified workpieces; 110 - detection chamber; 120 - console; 210 - connecting plate; 220 - slide rail; 230 - slider; 310 - main telescopic rod; 320 - auxiliary telescopic rod; 330 - first rotating module; 340 - second rotating module; 350 - first camera; 510 - second camera; 520 - lifting platform; 610 - telescopic cylinder; 620 - lifting plate; 630 - vacuum generator; 640 - tube body; 650 - vacuum suction cup; 660 - telescopic mechanism; 331 - connecting ring; 332 - rotating ring; 333 - first motor; 334 - gear; 341 - connecting plate; 342 - second motor; 343 - mounting plate. DETAILED DESCRIPTION

[0019] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0020] Currently, quality inspection robots have fixed or relatively single shooting angles, which prevent them from capturing all-around images of workpieces. This results in incomplete inspections and increased misjudgment rates. The industrial production quality inspection robot provided in this application uses a first inspection component 300 to capture the top surface, outer wall, and inner wall of a workpiece, and a second inspection component 500 to capture the bottom surface of the workpiece through a transparent plate 400, thereby achieving all-around quality inspection of the workpiece and reducing misjudgment rates.

[0021] The specific structure of the industrial production quality inspection robot provided by this application is described in detail below with reference to the accompanying drawings.

[0022] Reference Figures 1-9 As shown, the embodiment of the present application provides a quality inspection robot for industrial production, including a body 100, which can be a rectangular platform. A detection cavity 110 is provided in the middle of the body 100, and the detection cavity 110 is a rectangular cavity; A connecting piece is provided on the upper portion of the detection chamber 110 , which may be a flat plate structure. A first detection component 300 is provided on the connecting piece, and the first detection component 300 is used to photograph the upper surface, inner side surface and outer side surface of a conventional workpiece.

[0023] The first detection assembly 300 includes a main telescopic rod 310, an auxiliary telescopic rod 320, a first rotating module 330, a second rotating module 340 and a first camera 350; The main telescopic rod 310 and the auxiliary telescopic rod 320 can both be electric push rods. The fixed ends of the main telescopic rod 310 and the auxiliary telescopic rod 320 are both rotatably connected to the outer wall of the connecting member. The telescopic end of the auxiliary telescopic rod 320 is rotatably connected to the outer wall of the main telescopic rod 310. The first rotating module 330 is arranged at the telescopic end of the main telescopic rod 310. The second rotating module 340 is arranged at the moving end of the first rotating module 330. The first camera 350 is a conventional high-definition camera. The first camera 350 is arranged at the moving end of the second rotating module 340. The first camera 350 is used to photograph the upper surface and / or outer wall and / or inner wall of the workpiece. The bottom end of the detection cavity 110 is provided with a blind groove, which can be a rectangular groove body. The top of the blind groove is provided with a transparent plate 400, which has a certain strength and is used to support the workpiece. A second detection component 500 is provided in the blind groove, and the second detection component 500 includes a second camera 510 and a lifting platform 520. The lifting platform 520 is arranged in the blind groove. The second camera 510 is a conventional high-definition camera. The second camera 510 is arranged at the top lifting end of the lifting platform 520. The second camera 510 shoots vertically upward and is used to shoot the lower surface of the workpiece through the transparent plate 400.

[0024] The embodiment of the present application provides a quality inspection robot for industrial production. A workpiece is placed on a transparent plate 400. A first inspection assembly 300 is provided on the upper portion of the workpiece, and a second inspection assembly 500 is provided on the lower portion of the workpiece. The first inspection assembly 300 includes a main telescopic rod 310, an auxiliary telescopic rod 320, a first rotation module 330, a second rotation module 340, and a first camera 350. The main telescopic rod 310 is extended and retracted to drive the first camera 350 up and down, thereby adjusting the height position of the first camera 350. The auxiliary telescopic rod 320 drives the main telescopic rod 310 to swing, thereby adjusting the lateral position of the first camera 350. The second rotation module 340 drives the first camera 350 to rotate longitudinally, and the first rotation module 330 drives the first camera 350 to rotate laterally, thereby adjusting the shooting angle of the first camera 350, so that the first camera 350 can capture the upper surface, outer wall, and inner wall of the workpiece. The second detection component 500 includes a second camera 510, which is located at the bottom of the transparent plate 400. The second camera 510 can photograph the lower surface of the workpiece through the transparent plate 400, thereby achieving all-round quality inspection of the workpiece and reducing the misjudgment rate.

[0025] Reference Figure 1As shown, in some embodiments, a console 120 is provided on the top of the body 100 mobile machine. The console 120 is a conventional control system for controlling the operation of the robot and displaying detection data through a display screen. A moving mechanism is provided at the bottom of the body 100 to facilitate the movement of the robot.

[0026] Reference Figure 3-Figure 5 As shown, Figure 4 and Figure 5 A is a workpiece, which may be a ring structure. In some embodiments, the main telescopic rod 310 is an electric push rod or a hydraulic telescopic rod, which includes a first rod body and a second rod body, wherein the second rod body is plugged into the first rod body. The lower surface of the connecting member is flat, and the end of the first rod is rotatably connected to the lower surface of the connecting member. The first rotating module 330 is disposed at the outer end of the second rod. By controlling the extension and retraction of the main telescopic rod 310, the height positions of the first rotating module 330, the second rotating module 340, and the first camera 350 can be adjusted. At least three of the auxiliary telescopic rods 320 are evenly distributed around the main telescopic rod 310, and the telescopic ends of at least three of the auxiliary telescopic rods 320 are rotatably connected to the outer wall of the first rod body, that is, the extension and retraction of the main telescopic rod 310 will not affect the auxiliary telescopic rod 320. At least three of the auxiliary telescopic rods 320 are configured to control the main telescopic rod 310 to tilt in any direction.

[0027] Combine Figure 3-Figure 5 It can be seen that the three auxiliary telescopic rods 320 are evenly distributed around the main telescopic rod 310. Figure 4 In the embodiment, the main telescopic rod 310 is vertically arranged, and the three auxiliary telescopic rods 320 are in the shape of a regular triangular pyramid. Figure 3 In the example, the right auxiliary telescopic rod 320 extends while the left and right auxiliary telescopic rods 320 simultaneously contract, causing the camera end of the main telescopic rod 310 to tilt leftward. Similarly, by controlling the extension and retraction of the three auxiliary telescopic rods 320, the camera end of the main telescopic rod 310 can be tilted in any direction, thereby adjusting the lateral position of the first camera 350. By coordinating the main telescopic rod 310 and the three auxiliary telescopic rods 320, the first camera 350 can be positioned above the workpiece A, within the center hole of the workpiece A, or outside the workpiece A.

[0028] Reference Figure 6 As shown, in some embodiments, the first rotating module 330 includes a connecting ring 331 , a rotating ring 332 , a first motor 333 and a gear 334 ; The connecting ring 331 may be a metal ring, disposed at the telescopic end of the main telescopic rod 310 and coaxial with the main telescopic rod 310. The rotating ring 332 is a metal ring that is loosely fitted with the connecting ring 331. The outer wall of the rotating ring 332 is rotatably connected to the inner wall of the connecting ring 331. The inner wall of the rotating ring 332 is provided with an annular tooth that matches the gear 334. The first motor 333 can be a small stepping motor. The first motor 333 is disposed in the connecting ring 331. The gear 334 is disposed at the output end of the first motor 333 and meshes with the inner wall of the rotating ring 332. The second rotating module 340 is connected to the rotating ring 332. When the first motor 333 rotates clockwise, the rotating ring 332 , the second rotating module 340 and the first camera 350 rotate clockwise synchronously. Conversely, when the first motor 333 rotates counterclockwise, the second rotating module 340 and the first camera 350 rotate counterclockwise synchronously.

[0029] Reference Figure 6 As shown, in some embodiments, the second rotating module 340 includes a connecting plate 341, a second motor 342 and a mounting plate 343; The connecting plate 341 may be a rectangular plate, and the connecting plate 341 is disposed on the rotating ring 332. The top end of the connecting plate 341 is fixedly connected to the bottom end of the rotating ring 332. The second motor 342 may be a small stepping motor, and the second motor 342 is disposed on an outer wall of one side of the connecting plate 341. The output shaft of the second motor 342 is perpendicular to the rotation axis of the rotating ring 332. The mounting plate 343 may be an L-shaped plate having a connecting surface and a mounting surface perpendicular to each other. The connecting surface of the mounting plate 343 is rotatably connected to the outer wall of the other side of the connecting plate 341. The output shaft of the second motor 342 passes through the through hole of the connecting plate 341 and is fixedly connected to the mounting plate 343. The first camera 350 is mounted on the mounting surface of the mounting plate 343. like Figure 6 As shown, at this time, the first camera 350 is vertically downward, and the main telescopic rod 310, the first camera 350 and the annular workpiece are coaxial. The first camera 350 can photograph the upper surface of the annular workpiece. When the second motor 342 rotates clockwise, the mounting plate 343 and the first camera 350 rotate forward, and the first camera 350 photographs forward. Conversely, when the second motor 342 rotates counterclockwise, the mounting plate 343 and the first camera 350 rotate backward, and the first camera 350 photographs backward. When the first camera 350 is moving forward or backward to shoot, the main telescopic rod 310 is extended, allowing the first camera 350 to enter the center hole of the annular workpiece. Then, the first motor 333 is activated, driving the second rotating module 340 and the first camera 350 to rotate around the axis of the rotating ring 332, so that the first camera 350 can shoot the inner wall of the annular workpiece. When the first camera 350 is shooting forward or backward, the auxiliary telescopic rod 320 adjusts the swing angle of the main telescopic rod 310, and the main telescopic rod 310 is extended, so that the first camera 350 moves to the outside of the annular workpiece, and the first motor 333 works to drive the first camera 350 to rotate, so that the first camera 350 faces the outer wall of the annular workpiece, reaching Figure 5 In the state shown, the three auxiliary telescopic rods 320 are controlled to telescopically move, so that the main telescopic rod 310 rotates around the annular workpiece, and the motion trajectory can be conical, and the first motor 333 moves synchronously, so that the first camera 350 is always facing the outer wall of the annular workpiece, so that the first camera 350 can shoot the outer wall of the annular workpiece.

[0030] The control methods of the auxiliary telescopic rod 320 , the main telescopic rod 310 and the first motor 333 are common knowledge to those skilled in the art, and conventional control systems can be used, which will not be described in detail here.

[0031] Reference Figures 1-8 As shown, in some embodiments, the quality inspection robot further includes a motion mechanism 200, a gripper assembly 600, and a workpiece conveying mechanism 700 to be inspected; The motion mechanism 200 is fixed to the top of the detection chamber 110. The motion mechanism 200 includes a connecting plate 210. The connecting plate 210 can reciprocate. The connecting plate 210 is the connecting member. The fixed ends of the main telescopic rod 310 and the auxiliary telescopic rod 320 are both rotatably connected to the lower surface of the connecting plate 210. The workpiece conveying mechanism 700 may be a conventional workpiece conveyor belt. The workpiece conveying mechanism 700 is disposed in the detection chamber 110 , and a feed end of the workpiece conveying mechanism 700 extends out of the detection chamber 110 and out of the machine body 100 . The workpiece conveying mechanism 700 is configured to convey external workpieces to be inspected into the machine body 100 . The gripper assembly 600 may be a mechanical gripper or a suction cup gripper. The gripper assembly 600 is disposed on the lower surface of the connecting plate 210 . The gripper assembly 600 is configured to grip or release a workpiece.

[0032] One quality inspection method is as follows: The workpiece conveying mechanism 700 for inspected workpieces is used to convey workpieces. When the workpiece to be inspected reaches the designated position, the workpiece conveying mechanism 700 for inspected workpieces stops moving; the moving mechanism 200 moves forward, so that the gripper assembly 600 moves to the upper part of the workpiece to be inspected, and then grabs the workpiece to be inspected. The moving mechanism 200 moves reversely, so that the workpiece to be inspected moves to the upper part of the transparent plate 400, and the gripper assembly 600 releases the workpiece to be inspected, and the workpiece to be inspected is placed on the upper part of the transparent plate 400. The moving mechanism 200 moves reversely again, so that the first detection assembly 300 moves to the upper part of the workpiece to be inspected, and then the first detection assembly 300 and the second detection assembly 500 photograph the workpiece to be inspected for quality inspection; after quality inspection, the moving mechanism 200 moves forward, so that the gripper assembly 600 moves to the upper part of the inspected workpiece, and then grabs the inspected workpiece. The moving mechanism 200 moves forward again, and conveys the inspected workpiece to the workpiece conveying mechanism 700 for inspected workpieces, or other conveyor belts, thereby completing the workpiece quality inspection.

[0033] Further, refer to Figures 1-8 As shown, in some embodiments, the quality inspection robot further includes a qualified workpiece conveying mechanism 800 and an unqualified workpiece conveying mechanism 900; The qualified workpiece conveying mechanism 800 and the unqualified workpiece conveying mechanism 900 can both be conventional conveyor belts. The qualified workpiece conveying mechanism 800 and the unqualified workpiece conveying mechanism 900 are both arranged in the detection cavity 110, and the discharge ends of the qualified workpiece conveying mechanism 800 and the unqualified workpiece conveying mechanism 900 both extend out of the detection cavity 110 and extend to the outside of the machine body 100. The qualified workpiece conveying mechanism 800 is used to convey qualified workpieces to the outside of the machine body 100; the unqualified workpiece conveying mechanism 900 is used to convey unqualified workpieces to the outside of the machine body 100.

[0034] The motion trajectory of the motion mechanism 200 is projected in the vertical direction to intersect with the inspected workpiece conveying mechanism 700, the qualified workpiece conveying mechanism 800, and the unqualified workpiece conveying mechanism 900, so that the gripper assembly 600 can transfer the workpiece on the three conveying mechanisms; like Figure 7 and Figure 8 As shown, the motion mechanism 200 moves in the front-to-back direction, and the workpiece conveying mechanism 700 conveys the workpiece in the front-to-back direction, and the two correspond to each other in spatial position. The stroke length of the motion mechanism 200 is greater than the length of the workpiece conveying mechanism 700; The qualified workpiece conveying mechanism 800 and the unqualified workpiece conveying mechanism 900 are both arranged horizontally to convey workpieces in the left and right directions. Among them, the qualified workpiece conveying mechanism 800 outputs qualified workpieces from the left side of the body 100, and the unqualified workpiece conveying mechanism 900 outputs unqualified workpieces from the right side of the body 100, so as to realize automatic differentiated conveying.

[0035] Specifically, refer to Figure 9 As shown, in some embodiments, the motion mechanism 200 further includes a slide rail 220, a slider 230 and a driving device; The slide rail 220 is fixed on the top of the detection chamber 110, the slider 230 is slidably connected to the slide rail 220, the driving device is arranged on the slider 230, and the output end of the driving device is connected to the slide rail 220, the connecting plate 210 is fixed on the slider 230, the slide rail 220 and the slider 230 are both conventional linear slide rail structures, and the driving device can be driven by a motor gear or a cylinder.

[0036] Furthermore, in some embodiments, the gripper assembly 600 includes a telescopic cylinder 610 , a lifting plate 620 , a vacuum generator 630 , a tube 640 , a vacuum suction cup 650 , and a telescopic mechanism 660 ; The telescopic cylinders 610 are fixed on the connecting plate 210. The multiple telescopic cylinders 610 are vertically arranged. The lifting plate 620 is horizontally arranged and can be a directional plate or a circular plate. The lifting plate 620 is connected to the moving end of the telescopic cylinders 610. The lifting plate 620 is provided with a through slot, which can be a rectangular slot and is located on the lower surface of the lifting plate 620. The multiple through slots correspond to the multiple tube bodies 640 one by one, and the multiple through slots are evenly distributed in the circumferential direction. The tube bodies 640 are vertically arranged, and the multiple tube bodies 640 pass through the corresponding through slots. The tube bodies 640 and the through slots are clearance-matched and can slide in the through slots. The multiple telescopic mechanisms 660 correspond to the multiple tube bodies 640 one by one. The telescopic mechanisms 660 can be hydraulic telescopic rods or electric push rods. The telescopic mechanisms 660 are arranged at the outer ends of the corresponding through slots, and the telescopic ends extend inward. The telescopic ends of the multiple telescopic mechanisms 660 are all connected to the outer walls of the corresponding tube bodies 640. The vacuum generator 630 is a conventional vacuum generator, which is disposed on the lifting plate 620 . The top end of the tube 640 is connected to the vacuum generator 630 via a telescopic tube, and the vacuum suction cup 650 is fixed to the bottom end of the tube 640 . During use, multiple telescopic mechanisms 660 move synchronously, adjusting the positions of the tube body 640 and the vacuum suction cup 650, making it easier to use with workpieces of different sizes. After adjustment, when grabbing a workpiece, the multiple vacuum suction cups 650 move to the top of the workpiece, and the telescopic cylinder 610 extends, causing the lifting plate 620, vacuum generator 630, tube body 640, and vacuum suction cup 650 to descend. The vacuum suction cup 650 fits the smooth outer surface of the workpiece, and the vacuum generator 630 operates, generating negative pressure inside the vacuum suction cup 650, sucking the workpiece. The telescopic cylinder 610 shortens, and the workpiece can be lifted. Similarly, when releasing the workpiece, after the workpiece reaches the upper part of the specified position, the telescopic cylinder 610 extends and places the workpiece on the transparent plate 400 or the conveying mechanism. The vacuum generator 630 stops working, and the vacuum suction cup 650 releases the workpiece.

[0037] Reference Figure 7 and Figure 8 As shown, in some embodiments, the workpiece conveying mechanism 700 to be inspected, the motion mechanism 200, the first detection assembly 300, the gripper assembly 600, and the second detection assembly 500 constitute a quality inspection system. Multiple groups of the quality inspection systems are provided in the body 100, and the multiple groups of the quality inspection systems share the qualified workpiece conveying mechanism 800 and the unqualified workpiece conveying mechanism 900. exist Figure 7 and Figure 8 In the embodiment, three workpiece conveying mechanisms 700 are arranged in parallel, and correspondingly, three transparent plates 400, second detection components 500, the motion mechanism 200, the first detection components 300 and the gripper components 600 are also arranged, so that the robot can inspect three workpieces at the same time; The three groups of quality inspection systems may be individually equipped with the qualified workpiece conveying mechanism 800 and the unqualified workpiece conveying mechanism 900, or may share the qualified workpiece conveying mechanism 800 and the unqualified workpiece conveying mechanism 900.

[0038] Based on the above technical features, the working principle of the industrial production quality inspection robot provided by this application in actual application scenarios is as follows: Before quality inspection, input the standard value range of the workpiece to be inspected on the console 120 Taking a ring-shaped workpiece as an example, during quality inspection, the workpiece conveying mechanism 700 conveys the workpiece to be inspected to the designated position, the motion mechanism 200 moves backward, causing the gripper assembly 600 to move to the upper part of the workpiece to be inspected, and then grabs the workpiece to be inspected. The motion mechanism 200 moves forward, causing the workpiece to be inspected to move to the upper part of the transparent plate 400, and then releases the workpiece to be inspected. The workpiece to be inspected is placed on the upper part of the transparent plate 400, and the motion mechanism 200 moves forward again, causing the first inspection assembly 300 to move to the upper part of the workpiece to be inspected, and then inspection begins. During inspection, the first inspection component 300 first photographs the upper surface of the workpiece, that is, the first camera 350 photographs vertically downward; then, the inner wall of the workpiece is photographed, and the second motor 342 works to rotate the mounting plate 343 and the first camera 350 longitudinally by 90 degrees, so that the first camera 350 is in a horizontal state, and the main telescopic rod 310 extends to allow the first camera 350 to enter the center hole of the workpiece, and then the first motor 333 works to drive the second rotating module 340 and the first camera 350 to rotate around the axis of the rotating ring 332, so that the first camera 350 photographs the inner wall of the workpiece; finally, the outer side of the workpiece is photographed. The main telescopic rod 310 is shortened, the first camera 350 is separated from the center hole of the workpiece, and the multiple auxiliary telescopic rods 320 adjust the swing angle of the main telescopic rod 310. At the same time, the main telescopic rod 310 is extended, so that the first camera 350 moves to the outside of the annular workpiece. The three auxiliary telescopic rods 320 are controlled to move telescopically, so that the main telescopic rod 310 rotates around the annular workpiece, and the first motor 333 moves synchronously, so that the first camera 350 is always facing the outer wall of the annular workpiece, so that the first camera 350 can photograph the outer wall of the annular workpiece; at the same time, the second camera 510 photographs the lower surface of the workpiece through the transparent plate 400. The first camera 350 and the second camera 510 transmit the captured images to the control console 120. The control console 120 converts the optical image of the workpiece into an electrical signal or digital signal, forming digitized image data. The workpiece is then judged as qualified or unqualified according to the preset judgment rules. If the characteristic parameters of the workpiece match the standard template within the allowable error range, the product is judged as qualified; otherwise, it is judged as unqualified. If the workpiece is judged to be qualified, the motion mechanism 200 cooperates with the gripper assembly 600 to transfer the workpiece to the qualified workpiece conveying mechanism 800 and output the workpiece from the left side of the body 100; if the workpiece is judged to be unqualified, the motion mechanism 200 cooperates with the gripper assembly 600 to transfer the workpiece to the unqualified workpiece conveying mechanism 900 and output the workpiece from the right side of the body 100.

[0039] The quality inspection robot for industrial production provided in this application uses the first detection component 300 to photograph the upper surface, outer wall and inner wall of the workpiece, and uses the second detection component 500 to photograph the lower surface of the workpiece through the transparent plate 400, thereby realizing all-round quality inspection of the workpiece and reducing the misjudgment rate.

[0040] It is easy to understand that those skilled in the art can combine, split, reorganize, etc. the embodiments of the present application based on the several embodiments provided in the present application to obtain other embodiments, and these embodiments do not exceed the scope of protection of the present application.

[0041] The above specific implementation methods further explain in detail the purpose, technical solutions and beneficial effects of the embodiments of the present application. It should be understood that the above are only specific implementation methods of the embodiments of the present application and are not intended to limit the scope of protection of the embodiments of the present application. Any modifications, equivalent replacements, improvements, etc. made on the basis of the technical solutions of the embodiments of the present application should be included in the scope of protection of the embodiments of the present application.

Claims

1. A quality inspection robot for industrial production, characterized by: including the body (100); A detection chamber (110) is provided in the middle of the body (100), a connecting piece is provided on the upper portion of the detection chamber (110), a first detection assembly (300) is provided on the connecting piece, and the first detection assembly (300) comprises a main telescopic rod (310), an auxiliary telescopic rod (320), a first rotating module (330), a second rotating module (340), and a first camera (350); The fixed ends of the main telescopic rod (310) and the auxiliary telescopic rod (320) are both rotatably connected to the outer wall of the connecting member, the telescopic end of the auxiliary telescopic rod (320) is rotatably connected to the outer wall of the main telescopic rod (310), the first rotating module (330) is arranged at the telescopic end of the main telescopic rod (310), the second rotating module (340) is arranged at the moving end of the first rotating module (330), the first camera (350) is arranged at the moving end of the second rotating module (340), and the first camera (350) is configured to photograph the upper surface and / or the outer side wall and / or the inner side wall of the workpiece; A blind groove is provided at the bottom end of the detection cavity (110), a transparent plate (400) is provided at the top of the blind groove, and the transparent plate (400) is configured to support a workpiece; a second detection component (500) is provided in the blind groove, and the second detection component (500) includes a second camera (510), and the second camera (510) is configured to photograph the lower surface of the workpiece through the transparent plate (400).

2. The industrial production quality inspection robot according to claim 1, characterized in that: The main telescopic rod (310) comprises a first rod body and a second rod body, the second rod body is plugged into the first rod body, the end of the first rod body is rotatably connected to the lower surface of the connecting piece, and the first rotating module (330) is arranged at the outer end of the second rod body; At least three of the auxiliary telescopic rods (320) are evenly distributed around the main telescopic rod (310), the telescopic ends of the at least three auxiliary telescopic rods (320) are rotatably connected to the outer wall of the first rod body, and the at least three auxiliary telescopic rods (320) are configured to control the main telescopic rod (310) to tilt in any direction.

3. The industrial production quality inspection robot according to claim 2, characterized in that: The first rotating module (330) comprises a connecting ring (331), a rotating ring (332), a first motor (333) and a gear (334); The connecting ring (331) is arranged at the telescopic end of the main telescopic rod (310), the rotating ring (332) is rotatably connected to the connecting ring (331), the first motor (333) is arranged in the connecting ring (331), the gear (334) is arranged at the output end of the first motor (333) and is meshed with the inner wall of the rotating ring (332), and the second rotating module (340) is connected to the rotating ring (332); The first motor (333) is configured to drive the rotating ring (332) and the second rotating module (340) to rotate forward and reverse relative to the connecting ring (331) and the main telescopic rod (310).

4. The industrial production quality inspection robot according to claim 3, characterized in that: The second rotating module (340) comprises a connecting plate (341), a second motor (342) and a mounting plate (343); The connecting plate (341) is arranged on the rotating ring (332), the second motor (342) is arranged on the connecting plate (341), and the output shaft of the second motor (342) is perpendicular to the rotation axis of the rotating ring (332); The mounting plate (343) has a connecting surface and a mounting surface that are perpendicular to each other, the connecting surface of the mounting plate (343) is rotatably connected to the outer wall of the connecting plate (341), and the output shaft of the second motor (342) is connected to the mounting plate (343), and the first camera (350) is mounted on the mounting surface of the mounting plate (343); The second motor (342) is configured to drive the mounting plate (343) and the first camera (350) to rotate relative to the rotating ring (332).

5. The industrial production quality inspection robot according to any one of claims 1 to 4, characterized in that: The quality inspection robot further comprises a motion mechanism (200), a gripper assembly (600), and a workpiece conveying mechanism (700) to be inspected; The motion mechanism (200) comprises a connecting plate (210), the connecting plate (210) being the connecting member, and the fixed ends of the main telescopic rod (310) and the auxiliary telescopic rod (320) are both rotatably connected to the lower surface of the connecting plate (210); The workpiece conveying mechanism (700) is arranged in the detection chamber (110), and a feeding end of the workpiece conveying mechanism (700) extends out of the detection chamber (110) and extends outside the machine body (100). The workpiece conveying mechanism (700) is configured to convey an external workpiece to be inspected into the machine body (100); The gripper assembly (600) is arranged on the lower surface of the connecting plate (210), and the gripper assembly (600) is configured to grip or release a workpiece.

6. The industrial production quality inspection robot according to claim 5, characterized in that: The quality inspection robot further comprises a qualified workpiece conveying mechanism (800) and an unqualified workpiece conveying mechanism (900); The qualified workpiece conveying mechanism (800) and the unqualified workpiece conveying mechanism (900) are both arranged in the detection chamber (110), and the discharge ends of the qualified workpiece conveying mechanism (800) and the unqualified workpiece conveying mechanism (900) both extend out of the detection chamber (110) and extend outside the machine body (100); The qualified workpiece conveying mechanism (800) is configured to convey qualified workpieces to the outside of the machine body (100); and the unqualified workpiece conveying mechanism (900) is configured to convey unqualified workpieces to the outside of the machine body (100).

7. The industrial production quality inspection robot according to claim 5, characterized in that: The motion mechanism (200) further includes a slide rail (220), a slider (230), and a driving device; The slide rail (220) is fixedly arranged at the top end of the detection chamber (110), the slider (230) is slidably connected to the slide rail (220), the driving device is arranged on the slider (230), and the output end of the driving device is connected to the slide rail (220), and the connecting plate (210) is fixedly arranged on the slider (230).

8. The industrial production quality inspection robot according to claim 5, characterized in that: The gripper assembly (600) comprises a telescopic cylinder (610), a lifting plate (620), a vacuum generator (630), a tube body (640), a vacuum suction cup (650), and a telescopic mechanism (660); The telescopic cylinder (610) is fixed on the connecting plate (210), and the lifting plate (620) is connected to the moving end of the telescopic cylinder (610); The lifting plate (620) is provided with through slots, and the plurality of through slots correspond to the plurality of tube bodies (640) one-to-one, and the plurality of through slots are evenly distributed in the circumferential direction, the plurality of tube bodies (640) pass through the corresponding through slots, the plurality of telescopic mechanisms (660) correspond to the plurality of tube bodies (640) one-to-one, and the telescopic ends of the plurality of telescopic mechanisms (660) are all connected to the outer wall of the corresponding tube body (640); The vacuum generator (630) is arranged on the lifting plate (620), the top end of the tube body (640) is connected to the vacuum generator (630) via a telescopic tube, and the vacuum suction cup (650) is fixed to the bottom end of the tube body (640).

9. The industrial production quality inspection robot according to claim 6, characterized in that: The workpiece conveying mechanism (700) to be inspected, the motion mechanism (200), the first detection component (300), the gripper component (600) and the second detection component (500) constitute a quality inspection system. A plurality of sets of the quality inspection systems are provided in the machine body (100), and the plurality of sets of the quality inspection systems share the qualified workpiece conveying mechanism (800) and the unqualified workpiece conveying mechanism (900).

10. The industrial production quality inspection robot according to claim 1, characterized in that: A control console (120) is provided on the top of the machine body (100) moving machine, and a moving mechanism is provided on the bottom of the machine body (100).

Images