Product dispensing defect detection device based on automatic positioning

Abstract

The invention relates to the technical field of visual defect detection, in particular to a product dispensing defect detection device based on automatic positioning, which comprises a bracket and a transverse moving table fixed on the bracket, a camera is fixed on the transverse moving table, a translation assembly is arranged on the transverse moving table, a movable plate is connected to the translation assembly, and a limiting ring and a limiting column are fixed on the movable plate; the mechanical arm is installed on the support, a supporting plate is fixed to the mechanical arm, a supporting clamping mechanism is arranged on the supporting plate, and a plurality of supporting columns which are distributed at equal intervals in the circumferential direction are connected to the supporting clamping mechanism; the follow-up rotating mechanism is arranged on the supporting plate and connected with the supporting and clamping mechanism, an elastic assembly is arranged on the follow-up rotating mechanism, and after the supporting column clamps the product, the mechanical arm guides the product to abut against the limiting ring and rotates and positions the product under the action of the follow-up rotating mechanism. Therefore, the product can be smoothly embedded with the limiting column.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of visual defect detection, and specifically relates to a product dispensing defect detection device based on automatic positioning. BACKGROUND

[0002] In the manufacturing process of automobile parts, dispensing is one of the indispensable processes. In terms of producing a horn shell, the sealing property of the horn and the product durability can be effectively improved after dispensing treatment.

[0003] To this end, the dispensing machine can form a continuous, uniform, uninterrupted and non-glue-overflowing sealing glue line in the groove of the horn shell and the diaphragm or other components, and after the dispensing is completed, the product is placed in a drying device for heating and curing treatment until the glue reaches the final strength.

[0004] After the dispensing is completed, the product needs to be detected for dispensing defects. In the prior art, the product detection is usually performed by controlling the product to move along a specified track through a translation table, and the image in the track range is collected through a visual detector to detect whether the dispensing has defects. However, if the product placement position deviates when the mechanical hand is transferred, the product part dispensing position is prone to miss detection.

[0005] To this end, a positioning tool can be arranged on the translation table to limit the movement of the product to ensure that the product is fully detected. However, when the mechanical hand clamps the product, since the product itself has a special structure, in order to achieve accurate positioning, the product center hole is usually positioned and clamped, which is prone to cause the product to deviate around the center axis of the hole due to uneven force during clamping, thereby causing the product to fail to align with the positioning tool. SUMMARY

[0006] The present application aims to provide a product dispensing defect detection device based on automatic positioning to solve the problems in the background art.

[0007] To achieve the above-mentioned purpose, the present application provides the following technical scheme: A product dispensing defect detection device based on automatic positioning, comprising: a support and a horizontal movement table fixed on the support, a camera is fixed on the horizontal movement table, a translation assembly is arranged on the horizontal movement table, a movable plate is connected to the translation assembly, a limiting ring and a limiting column are fixed on the movable plate; Further comprising: a mechanical hand installed on the support, a support plate is fixed on the mechanical hand, a support clamping mechanism is arranged on the support plate, a plurality of support columns are circumferentially and equidistantly connected to the support clamping mechanism; A follow-up rotating mechanism is arranged on the support plate and connected with the support clamping mechanism, and an elastic component is arranged on the follow-up rotating mechanism, so that the follow-up rotating mechanism can adjust the support force on the support column through the elastic component when the support column drives the support clamping mechanism to move due to being limited.

[0008] As a further scheme of the present application, the support clamping mechanism comprises a support sleeve fixed on the support plate, a rotating rod axially sliding in the support sleeve, a rotating plate fixed at the end of the rotating rod, and a plurality of sliding grooves circumferentially and equidistantly formed on the rotating plate, wherein a sliding block fixedly connected with the support column is slidingly arranged in the sliding groove. The guide component and the driven component arranged on the support plate are further included for adjusting the distance between the plurality of sliding blocks.

[0009] As a further scheme of the present application, the guide component comprises a guide column fixed on the support plate, a guide plate rotationally connected with the rotating rod axially sliding on the guide column, and a pneumatic cylinder fixed on the guide plate.

[0010] As a further scheme of the present application, the driven component comprises a sliding sleeve axially sliding along the rotating rod, a push plate fixedly connected with the pneumatic cylinder rotationally arranged on the sliding sleeve, and a hinged rod hingedly connected with the sliding block hingedly arranged on the sliding sleeve.

[0011] As a further scheme of the present application, the follow-up rotating mechanism comprises a guide groove formed on the circumferential outer wall of the rotating rod, and a limiting block fixed on the inner wall of the support sleeve and slidingly fitted in the guide groove. The sliding component and the meshing component arranged on the support plate are further included.

[0012] As a further scheme of the present application, the sliding component comprises a third guide rail fixed on the support plate, a sliding plate slidingly arranged on the third guide rail, a follow-up plate slidingly arranged in the sliding plate, a clamping groove formed on the follow-up plate, a movable ring rotationally arranged on the rotating rod, and a follow-up rod fixed on the movable ring and slidingly fitted in the clamping groove.

[0013] As a further scheme of the present application, the meshing component comprises a gear fixed on the rotating rod, and a rack plate fixed on the follow-up plate and meshing with the gear.

[0014] As a further scheme of the present application, the elastic component comprises a guide groove formed on the sliding plate, a sliding ring axially sliding on the support sleeve, a protruding column fixed on the sliding ring and slidingly fitted in the guide groove, and a spring sleeved on the support sleeve and the rotating rod and abutting against the sliding ring and the movable ring at both ends.

[0015] As a further scheme of the present application: the translation assembly includes a first guide rail fixed on the horizontal translation table, a longitudinal translation table is slidingly installed on the first guide rail, and a second guide rail slidingly connected with the movable plate is fixed on the longitudinal translation table.

[0016] As a further scheme of the present application: the support column is fixed with a limiting plate for limiting the product.

[0017] Compared with the prior art, the present application has the beneficial effect that: before the loudspeaker shell is clamped and positioned, the plurality of support columns are controlled to be in a retracted state, so that when the loudspeaker shell position deviates due to clamping and transfer, that is, the central axis of the rotating rod is out of position with the circular hole, the support columns are smoothly inserted into the circular hole, and when they are expanded, the loudspeaker shell is centrally positioned, so that the subsequent loudspeaker shell can be smoothly matched with the limiting ring.

[0018] Before the glue defect detection, through the cooperation of the limiting block and the first spiral groove and the second spiral groove, the limiting hole on the loudspeaker shell can be guided to the cooperation position with the limiting column when the loudspeaker shell deviates by a small angle clockwise or counterclockwise, so as to ensure that the loudspeaker shell is smoothly embedded on the limiting column, and the accuracy of the subsequent camera for glue defect detection is ensured.

[0019] When the loudspeaker shell is placed and positioned, through the cooperation of the follow-up rod and the horizontal groove and the inclined groove, when the spring compression amount reaches a certain value, the compression rate of the spring is controlled to slow down, and the spring will control the follow-up rod to have a sliding trend along the inclined groove. As a result, the thrust provided by the spring to the movable ring in the entire system is reduced, that is, the downward pressure provided by the support column and the limiting plate to the loudspeaker shell is reduced, thereby avoiding the problem that the loudspeaker shell is deformed or cracked due to continuous compression of the spring when the loudspeaker shell is controlled to deviate. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 Structure schematic view of an embodiment of the product glue defect detection device based on automatic positioning.

[0021] Figure 2 Structure schematic view of another angle in an embodiment of the product glue defect detection device based on automatic positioning.

[0022] Figure 3 Structure schematic view of a mechanical hand in an embodiment of the product glue defect detection device based on automatic positioning.

[0023] Figure 4 Structure schematic view of another angle in an embodiment of the product glue defect detection device based on automatic positioning. Figure 3 Enlarged structure schematic view of A in the middle.

[0024] Figure 5 Structure diagram of the translation assembly, camera, limiting ring and limiting column in one embodiment of the product dispensing defect detection device based on automatic positioning.

[0025] Figure 6 Connection diagram of the partial support clamping mechanism, partial follow-up rotating mechanism in one embodiment of the product dispensing defect detection device based on automatic positioning.

[0026] Figure 7 Structure diagram of the partial support clamping mechanism in one embodiment of the product dispensing defect detection device based on automatic positioning. Figure 6 Structure diagram from another angle.

[0027] Figure 8 Connection diagram of the partial support clamping mechanism, partial follow-up rotating mechanism, partial elastic assembly in one embodiment of the product dispensing defect detection device based on automatic positioning.

[0028] Figure 9 Structure diagram of the partial follow-up rotating mechanism, elastic assembly in one embodiment of the product dispensing defect detection device based on automatic positioning.

[0029] Figure 10 Exploded structure diagram of the partial follow-up rotating mechanism, elastic assembly in one embodiment of the product dispensing defect detection device based on automatic positioning.

[0030] Figure 11 Exploded structure diagram of the partial support clamping mechanism in one embodiment of the product dispensing defect detection device based on automatic positioning.

[0031] In the figure: 1, support; 2, horizontal moving table; 201, first guide rail; 3, vertical moving table; 301, second guide rail; 4, movable plate; 5, limiting ring; 6, limiting column; 7, camera; 8, mechanical hand; 9, support plate; 901, third guide rail; 10, support sleeve; 1001, limiting block; 11, rotating rod; 1101, first spiral groove; 1102, second spiral groove; 12, rotating plate; 1201, sliding groove; 13, sliding block; 14, support column; 15, limiting plate; 16, guide column; 17, guide plate; 18, air cylinder; 19, push plate; 20, sliding sleeve; 21, hinged rod; 22, sliding ring; 2201, protruding column; 23, sliding plate; 2301, horizontal groove; 2302, inclined groove; 24, follow-up plate; 2401, clamping groove; 25, rack plate; 26, gear; 27, movable ring; 2701, follow-up rod; 28, spring. DETAILED DESCRIPTION

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] Furthermore, elements in this invention are referred to as being "fixed to" or "set on" another element, which may be directly on the other element or may also include an intervening element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or may also include an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0034] Please see Figures 1-11 In this embodiment of the invention, a product dispensing defect detection device based on automatic positioning includes: A bracket 1 and a transverse platform 2 fixed on the bracket 1. A camera 7 is fixed on the transverse platform 2. A translation component is provided on the transverse platform 2. A movable plate 4 is connected to the translation component. A limit ring 5 and a limit post 6 are fixed on the movable plate 4. Also includes: A robotic arm 8 is mounted on the bracket 1. A support plate 9 is fixed on the robotic arm 8. A support clamping mechanism is provided on the support plate 9. Multiple support columns 14 are connected to the support clamping mechanism in a circumferentially equidistant manner. A follower rotation mechanism is disposed on the support plate 9 and connected to the support clamping mechanism. The follower rotation mechanism is provided with an elastic component. When the support column 14 is limited and drives the support clamping mechanism to move, the follower rotation mechanism can adjust the supporting force on the support column 14 through the elastic component.

[0035] Specifically, when producing the automobile horn shell, the glue dispensing quality needs to be detected to ensure that the glue dispensing position of the product does not have defects such as glue missing, uneven thickness, and uneven width. To this end, the support plate 9 can be moved by the mechanical hand 8 to control the support clamping mechanism to move the support column 14 to the glue dispenser. When the plurality of support columns 14 are inserted into the circular hole in the middle of the horn shell, the plurality of support columns 14 are moved away from each other under the action of the support clamping mechanism until the support column 14 abuts against the inner wall of the circular hole of the horn shell to clamp the horn shell. At this time, the mechanical hand 8 guides the horn shell to move above the movable plate 4 and be in a cooperating position with the limiting ring 5. Since the horn shell may be angularly offset during clamping, if the limiting hole formed on the back of the horn shell is in a misaligned state with the limiting column 6, the horn shell will abut against the limiting column 6. The support clamping mechanism drives the follow-up rotating mechanism to move to control the horn shell to rotate around the central axis of the circular hole by the support column 14 until the limiting hole moves to the cooperating position with the limiting column 6. In this process, the elastic assembly keeps the support force of the support column 14 on the horn shell within a certain range to prevent the horn shell from being damaged due to excessive force from the limiting column 6. The horn shell will control the limiting hole to quickly fit on the limiting column 6, and the horn shell is centrally positioned under the action of the limiting column 6. At this time, the support clamping mechanism controls the support column 14 to separate from the horn shell. Under the action of the translation assembly, the movable plate 4 controls the horn shell to move to the cooperating position with the camera 7 to detect defects in the glue dispensing position of the horn shell.

[0036] Please refer to Figure 1 , Figure 2 , Figure 5 , the translation assembly comprises a first guide rail 201 fixed on the transverse moving table 2, a longitudinal moving table 3 is slidably installed on the first guide rail 201, and a second guide rail 301 connected with the movable plate 4 is fixed on the longitudinal moving table 3.

[0037] Please refer to Figures 1-4 , Figures 6-9 , Figure 11The supporting clamping mechanism comprises a supporting sleeve 10 fixed on the supporting plate 9, a rotating rod 11 axially sliding in the supporting sleeve 10, an end of the rotating rod 11 being fixed with a rotating plate 12, a plurality of slide grooves 1201 being formed on the rotating plate 12 and being distributed at equal intervals in a circle, the slide grooves 1201 extending in a radial direction of the rotating plate 12, and a sliding block 13 fixedly connected with the supporting column 14 being slidingly installed in the slide grooves 1201; further comprising a guide assembly and a driven assembly arranged on the supporting plate 9 and used for adjusting the interval between the sliding blocks 13, the guide assembly comprising a guide column 16 fixed on the supporting plate 9, the guide column 16 axially sliding with a guide plate 17 rotationally connected with the rotating rod 11, and a pneumatic cylinder 18 fixed on the guide plate 17, and the driven assembly comprising a sliding sleeve 20 axially sliding along the rotating rod 11, a push plate 19 fixedly connected with a telescopic end of the pneumatic cylinder 18 being rotationally installed on the sliding sleeve 20, the push plate 19 and the sliding sleeve 20 being capable of synchronously axially sliding along the rotating rod 11, and a hinged rod 21 hinged with the sliding block 13 being hinged on the sliding sleeve 20.

[0038] The supporting column 14 is fixed with a limiting plate 15 used for limiting the product.

[0039] In detail, a through hole is formed at the center of the loudspeaker shell, a limiting hole for positioning is formed on the glue dispensing back surface of the loudspeaker shell, the supporting column 14 is used for being inserted into the through hole and abutting against the inner wall of the through hole, and the limiting plate 15 is used for abutting against the side surface of the loudspeaker shell. The translation assembly further comprises a transverse lead screw and a longitudinal lead screw, the transverse lead screw is rotationally installed on the transverse moving table 2, a first threaded sleeve fixedly connected with the longitudinal moving table 3 is threadedly connected on the transverse lead screw, the longitudinal lead screw is rotationally installed on the longitudinal moving table 3, and a second threaded sleeve fixedly connected with the movable plate 4 is threadedly connected on the longitudinal lead screw, the transverse lead screw and the longitudinal lead screw are driven by a motor; In the initial state, under the action of the pneumatic cylinder 18, the push plate 19 and the sliding sleeve 20 are located at the stroke end on the side away from the rotating plate 12, the sliding sleeve 20 will control the sliding block 13 to be located at the stroke end on one side of the slide groove 1201 through the hinged rod 21, and the interval between the plurality of sliding blocks 13 is minimum, and the interval between the plurality of supporting columns 14 is minimum, under the action of the transverse lead screw and the longitudinal lead screw, the movable plate 4 is located at the feeding position, so that the limiting ring 5 and the limiting column 6 are also located at the specified positions.

[0040] When the horn shell dispensing is completed, the mechanical arm 8 moves the support column 14 towards the horn shell, and the support column 14 is inserted into the circular hole. The limiting plate 15 abuts against the side surface of the horn shell. At this time, under the action of the air cylinder 18, the push plate 19 slides along the axis of the rotating rod 11 and moves towards the rotating plate 12. The sliding sleeve 20 is driven to move. The sliding sleeve 20 controls the sliding block 13 to slide along the sliding groove 1201 through the hinge rod 21 and moves away from the rotating rod 11. The plurality of support columns 14 and the limiting plate 15 move away from each other. When the support column 14 abuts against the inner wall of the circular hole, it means that the horn shell is clamped. Subsequently, the mechanical arm 8 controls the support column 14 to move above the movable plate 4 and cooperate with the limiting ring 5. The mechanical arm 8 continues to control the support plate 9 to move towards the movable plate 4. The rotating plate 12 is driven to move by the support sleeve 10 and the rotating rod 11. The horn shell is controlled to move towards the limiting ring 5 by the support column 14 and the limiting plate 15. When the limiting hole formed on the back of the horn shell is sleeved on the limiting column 6, and the horn shell abuts against the limiting ring 5, it means that the horn shell is placed. At this time, the air cylinder 18 controls the push plate 19 and the sliding sleeve 20 to reset. Under the action of the hinge rod 21, the sliding block 13 moves towards each other. The support column 14 is separated from the circular hole. At the same time, under the action of the mechanical arm 8, the support column 14 and the limiting plate 15 are separated from the horn shell. At this time, the motor controls the horizontal screw rod and the vertical screw rod to rotate. The vertical moving table 3 and the movable plate 4 are controlled to move by the first threaded sleeve and the second threaded sleeve. The horn shell is driven to move to the detection position by the limiting ring 5 and the limiting column 6. Under the action of the camera 7, the dispensing position on the surface of the horn shell is detected.

[0041] Please refer to Figures 1-4 , Figures 6-10 , the follow-up rotating mechanism includes a guide groove formed on the circumferential outer wall of the rotating rod 11, and a limiting block 1001 fixed on the inner wall of the support sleeve 10 and slidingly fitted in the guide groove. The sliding assembly and the meshing assembly are arranged on the support plate 9. The sliding assembly includes a third guide rail 901 fixed on the support plate 9, a sliding plate 23 slidingly installed on the third guide rail 901, and a follow-up plate 24 slidingly installed in the sliding plate 23. The follow-up plate 24 is provided with a clamping groove 2401. The rotating rod 11 is rotatably installed with an activity ring 27, which cannot slide along the axis of the rotating rod 11. The activity ring 27 is fixed with a follow-up rod 2701 which is slidingly fitted in the clamping groove 2401. The meshing assembly includes a gear 26 fixed on the rotating rod 11, and a rack plate 25 fixed on the follow-up plate 24 and engaged with the gear 26.

[0042] Please refer to Figures 8-10 , the elastic assembly includes a guide groove formed on the sliding plate 23, the shaft of the support sleeve 10 slides with a sliding ring 22, the sliding ring 22 is fixed with a convex column 2201 which is slidingly fitted with the guide groove, the support sleeve 10 and the rotating rod 11 are sleeved with a spring 28, the two ends of the spring 28 are respectively abutted with the sliding ring 22 and the movable ring 27.

[0043] Please refer to Figure 10 , further, the guide groove can be divided into two sections, which are the first spiral groove 1101 and the second spiral groove 1102, one end of the first spiral groove 1101 and the second spiral groove 1102 is connected to each other, and the pitch of the first spiral groove 1101 and the second spiral groove 1102 is equal, the angle formed by the second spiral groove 1102 in the circumferential direction is greater than that of the first spiral groove 1101; Please refer to Figure 9 , Figure 10 , the guide groove is also divided into two sections, which are the horizontal groove 2301 and the inclined groove 2302, one end of the horizontal groove 2301 and the inclined groove 2302 is connected to each other, and the length of the horizontal groove 2301 is slightly greater than that of the inclined groove 2302 in the horizontal direction, for this, the central reference surface of the sliding plate 23 passes through the horizontal groove 2301; The support sleeve 10 is fixed with a key on the circumferential outer wall, and the sliding ring 22 is formed with a key groove matched with the key, under the action of the key and the key groove, the sliding ring 22 can only slide axially along the support sleeve 10 and cannot rotate.

[0044] In the initial state, the rotating rod 11 is located at the end of the stroke away from the support plate 9, so that the limiting block 1001 is located at the end of the stroke away from the second spiral groove 1102 on the side of the first spiral groove 1101, under the action of the sliding ring 22, the convex column 2201 is located in the horizontal groove 2301, at this time, the distance between the movable ring 27 and the sliding ring 22 is maximum, under the action of the movable ring 27, the follow-up plate 24 is controlled to be in the extended state through the follow-up rod 2701 and the clamping groove 2401, to ensure that the rack plate 25 and the gear 26 are always in meshing state, and the elongation of the spring 28 in the natural state is greater than the maximum distance between the sliding ring 22 and the movable ring 27, for this, the spring 28 is in pre-compression state, and always provides a pushing force to the movable ring 27 in the direction away from the support plate 9, when the rotating rod 11 moves in the direction close to the support plate 9, through the cooperation of the limiting block 1001 and the first spiral groove 1101, the rotating rod 11 rotates clockwise, through the cooperation of the limiting block 1001 and the second spiral groove 1102, the rotating rod 11 rotates counterclockwise.

[0045] When the horn shell needs to be clamped, the support column 14 in the retracted state is inserted into the circular hole under the action of the mechanical hand 8, and the plurality of support columns 14 are expanded under the action of the air cylinder 18 until the support column 14 is attached to the inner wall of the circular hole, which indicates that the horn shell is in a clamped state, and then the mechanical hand 8 controls the horn shell to move to the cooperation position with the limiting ring 5 and the limiting column 6 through the support column 14; Since the product clamping and transfer all need to move the horn shell, and in the moving process, the position of the horn shell may be deviated, and the motion trajectory of the mechanical hand 8 is set by the program, for this, if the position of the horn shell is deviated, the central axis of the rotating rod 11 may be in a misaligned state with the circular hole when the support column 14 clamps the horn shell, and since the support column 14 is in the retracted state at this time, the plurality of support columns 14 can be smoothly inserted into the circular hole, and when expanded, the horn shell is centrally positioned to ensure that the horn shell can be smoothly cooperated with the limiting ring 5 subsequently; When the support column 14 centrally positions the horn shell through the circular hole, the horn shell itself may be deviated around the central axis of the circular hole, causing the limiting hole on the horn shell to be misaligned with the limiting column 6, so that there will be three possibilities when the mechanical hand 8 drives the horn shell to be placed on the limiting ring 5; First, the horn shell does not deviate during central positioning, and the limiting hole is always in the cooperation position with the limiting column 6, at this time, the mechanical hand 8 controls the support column 14 to move towards the limiting ring 5 direction until the limiting hole is sleeved on the limiting column 6, and the horn shell abuts against the limiting ring 5; Second, the horn shell deviates during central positioning, and is counterclockwise deflected by a certain angle with the circular hole as the center of rotation, which will cause the limiting hole to be misaligned with the limiting column 6, so that when the horn shell abuts against the limiting column 6, the horn shell no longer moves, at this time, the support plate 9 continues to move towards the direction of the movable plate 4, so that the size of the sleeve of the support sleeve 10 and the rotating rod 11 gradually increases, and the spring 28 is compressed, so that the limiting block 1001 slides along the first spiral groove 1101, under the action of the limiting block 1001 and the first spiral groove 1101, the rotating rod 11 is rotated clockwise, so that the support column 14 is controlled to move through the rotating plate 12 and the sliding block 13, to drive the horn shell to rotate clockwise; At the same time, under the action of the movable ring 27, the size of the sleeve of the follower plate 24 and the sliding plate 23 is increased synchronously through the follower rod 2701 and the clamping groove 2401, to ensure that the gear 26 and the rack plate 25 are always in meshing state, when the rotating rod 11 rotates, the gear 26 is driven to rotate, and under the action of the rack plate 25, the follower plate 24 and the sliding plate 23 are controlled to slide along the third guide rail 901, the sliding plate 23 will drive the transverse groove 2301 and the inclined groove 2302 to move, so that the protruding column 2201 slides along the transverse groove 2301 relative to the sliding plate 23; When the horn shell is rotated clockwise to compensate for the deviation angle, the limiting hole moves to the position of cooperation with the limiting column 6 and is smoothly sleeved into the limiting column 6, at this time, the angle of the horn shell is locked, the spring 28 is elastically released, and the rotating rod 11 is moved by the active ring 27 to push, so that the limiting block 1001 returns to the initial position along the first spiral groove 1101, in the process, the rotating rod 11 is reversed and returns to the initial angle, when the rotating rod 11 is reversed, the supporting column 14 is also reversed around the rotating rod 11, since the horn shell has been locked, the supporting column 14 will not move the horn shell, and friction with the circumferential direction of the inner wall of the circular hole occurs until the limiting block 1001 returns to the initial position; Third, when the center is positioned, the horn shell deviates and is deflected clockwise by a certain angle with the circular hole as the rotating center, when the horn shell abuts against the limiting column 6, under the action of the limiting block 1001 and the first spiral groove 1101, the rotating rod 11 will also be controlled to rotate clockwise, which leads to the further deviation of the limiting hole from the limiting column 6, when the limiting block 1001 moves to the connecting position of the first spiral groove 1101 and the second spiral groove 1102, the deviation of the limiting hole from the limiting column 6 reaches the maximum, and the angle of the clockwise rotation of the rotating rod 11 also reaches the maximum, under the action of the gear 26 and the rack plate 25, the follower plate 24 and the sliding plate 23 move to the stroke end of one side of the supporting plate 9, so that the follower rod 2701 is located at the stroke end of the side of the horizontal groove 2301 away from the inclined groove 2302; Subsequently, the supporting sleeve 10 continues to move, so that the limiting block 1001 enters the second spiral groove 1102, at this time, the rotating rod 11 rotates counterclockwise to drive the horn shell to rotate counterclockwise, so that the limiting hole gradually moves towards the position of cooperation with the limiting column 6, the rotating rod 11 will control the follower plate 24 and the sliding plate 23 to slide towards the other side of the supporting plate 9 through the gear 26 and the rack plate 25, so that the protruding column 2201 slides along the horizontal groove 2301 towards the inclined groove 2302 relative to the sliding plate 23, when the rotating rod 11 returns to the initial angle, the rotating rod 11 will continue to rotate counterclockwise, at this time, the protruding column 2201 will be separated from the horizontal groove 2301 and enter the inclined groove 2302; Under the action of the chute 2302 and the convex column 2201, the sliding ring 22 moves towards the direction close to the support plate 9, and the pitch of the spiral projection formed by the projection of the chute 2302 to the rotating rod 11 is smaller than the pitch of the second spiral groove 1102, for this, the movable ring 27 and the sliding ring 22 also move towards the support plate 9 relative to the support plate 9, and the movement rate of the movable ring 27 is greater than the movement rate of the sliding ring 22, for this, the compression rate of the spring 28 slows down, and the spring 28 controls the convex column 2201 to have a tendency to slide along the chute 2302 through the sliding ring 22, for this, the thrust provided by the spring 28 to the movable ring 27 in the whole system is reduced, that is, the downward pressure provided by the support column 14 and the limiting plate 15 to the horn shell is reduced, thereby avoiding the problem that the horn shell is deformed or cracked due to the continuous compression of the spring 28 when the horn shell is controlled to be deflected; With the continuous counterclockwise rotation of the rotating rod 11, when the limiting hole moves to the position matched with the limiting column 6, the limiting hole will be sleeved into the limiting column 6, so that the angle of the horn shell is locked, at this time, the spring 28 is elastically released, so that the rotating rod 11 returns to the initial angle, under the action of the air cylinder 18, the support column 14 is controlled to shrink, and under the action of the mechanical hand 8, the support column 14 is separated from the limiting plate 15, thereby completing the positioning and placement of the horn shell.

[0046] In summary, through the cooperation of the limiting block 1001 and the first spiral groove 1101 and the second spiral groove 1102, the limiting hole on the horn shell can be guided to move to the position matched with the limiting column 6 when the horn shell is deflected by a small angle clockwise or counterclockwise, so as to ensure that the horn shell is smoothly embedded on the limiting column 6, and ensure the accuracy of the subsequent camera 7 in detecting the dispensing defect, and under the cooperation of the follower 2701 and the horizontal groove 2301 and the chute 2302, when the compression amount of the spring 28 reaches a certain value, the downward pressure provided by the spring 28 is reduced, so as to ensure that the horn shell will not be damaged due to excessive downward pressure during positioning.

[0047] It is obvious to those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be regarded as exemplary and non-limiting, and the scope of the present application is defined by the appended claims rather than the above description, and all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application. Any reference signs in the claims should not be regarded as limiting the claims involved.

[0048] Furthermore, it should be understood that although the specification is described in terms of embodiments, not every embodiment includes every feature described. The specification can include implicit combinations of explicitly mentioned features and / or explicit combinations of implicitely mentioned features. Each embodiment depends on the explicit combinations of features and / or the implicit combinations of features made specifically within that embodiment, and each such embodiment can be combined with every other such embodiment to create further embodiments.

Claims

1. A product dispensing defect detection device based on automatic positioning, comprising: A bracket and a transverse platform fixed on the bracket. A camera is fixed on the transverse platform. A translation component is set on the transverse platform. A movable plate is connected to the translation component. A limit ring and a limit post are fixed on the movable plate. Its characteristic is that it further includes: A robotic arm is mounted on the bracket, and a support plate is fixed on the robotic arm. A support and clamping mechanism is provided on the support plate, and multiple support columns are connected to the support and clamping mechanism in a circumferentially equidistant manner. A follower rotation mechanism is disposed on the support plate and connected to the support clamping mechanism. The follower rotation mechanism is provided with an elastic component. When the support column is limited and drives the support clamping mechanism to move, the follower rotation mechanism can adjust the supporting force on the support column through the elastic component.

2. The product dispensing defect detection device based on automatic positioning according to claim 1, characterized in that, The support clamping mechanism includes a support sleeve fixed on the support plate, a rotating rod that slides axially inside the support sleeve, a rotating plate fixed to the end of the rotating rod, and a plurality of circumferentially equidistant sliding grooves formed on the rotating plate, wherein a sliding block fixedly connected to the support column is slidably installed in the sliding groove; It also includes a guide assembly and a driven assembly disposed on the support plate for adjusting the spacing between the plurality of sliding blocks.

3. The product dispensing defect detection device based on automatic positioning according to claim 2, characterized in that, The guiding assembly includes a guide post fixed on the support plate, a guide plate rotatably connected to the rotating rod along the axial direction of the guide post, and a cylinder fixed on the guide plate.

4. The product dispensing defect detection device based on automatic positioning according to claim 3, characterized in that, The driven component includes a sliding sleeve that slides along the axial direction of the rotating rod, a push plate that is fixedly connected to the cylinder is rotatably mounted on the sliding sleeve, and a hinge rod that is hinged to the sliding block is hinged to the sliding sleeve.

5. The product dispensing defect detection device based on automatic positioning according to claim 2, characterized in that, The follow-up rotation mechanism includes a guide groove formed on the outer wall of the circumference of the rotating rod, and a limiting block that slides and engages with the guide groove is fixed on the inner wall of the support sleeve. It also includes a sliding assembly and a meshing assembly disposed on the support plate.

6. The product dispensing defect detection device based on automatic positioning according to claim 5, characterized in that, The sliding assembly includes a third guide rail fixed on the support plate, a sliding plate slidably mounted on the third guide rail, a follower plate slidably mounted inside the sliding plate, a slot formed on the follower plate, a movable ring rotatably mounted on the rotating rod, and a follower rod fixed on the movable ring that slidably engages with the slot.

7. The product dispensing defect detection device based on automatic positioning according to claim 6, characterized in that, The meshing assembly includes a gear fixed on the rotating rod, and a rack plate that meshes with the gear is fixed on the follower plate.

8. The product dispensing defect detection device based on automatic positioning according to claim 5, characterized in that, The elastic component includes a guide groove formed on the sliding plate, a sliding ring that slides axially on the support sleeve, a protrusion that slides and engages with the guide groove fixed on the sliding ring, and springs sleeved on the support sleeve and the rotating rod, with the two ends of the springs abutting against the sliding ring and the movable ring, respectively.

9. The product dispensing defect detection device based on automatic positioning according to claim 1, characterized in that, The translation component includes a first guide rail fixed on the transverse platform, a longitudinal platform slidably mounted on the first guide rail, and a second guide rail fixed on the longitudinal platform and slidably connected to the movable plate.

10. The product dispensing defect detection device based on automatic positioning according to claim 1, characterized in that, A limiting plate for limiting the position of the product is fixed on the support column.

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