An automatic positioning-based product dispensing defect detection device

Abstract

The application 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 support, a transverse moving table fixed on the support, a camera fixed on the transverse moving table, a translation assembly arranged on the transverse moving table, a movable plate connected to the translation assembly, a limiting ring and a limiting column fixed on the movable plate, a mechanical hand installed on the support, a supporting plate fixed on the mechanical hand, a supporting and clamping mechanism arranged on the supporting plate, a plurality of supporting columns which are circumferentially and equidistantly distributed and connected to the supporting and clamping mechanism, a follow-up rotating mechanism arranged on the supporting plate and connected to the supporting and clamping mechanism, and an elastic assembly arranged on the follow-up rotating mechanism. After the supporting columns clamp the product, the mechanical hand guides the product to abut against the limiting ring, and under the action of the follow-up rotating mechanism, the rotating positioning treatment is performed on the product, so that the product is successfully embedded in the limiting column.

Description

Technical Field

[0001] This invention relates to the field of visual defect detection technology, specifically a product dispensing defect detection device based on automatic positioning. Background Technology

[0002] In the manufacturing process of automotive parts, dispensing is an essential step. In the production of horn housings, dispensing can effectively improve the horn's sealing performance and product durability.

[0003] To address this, a continuous, uniform, uninterrupted, and adhesive-free sealing line can be formed in the groove where the speaker housing meets the diaphragm or other components using a dispensing machine. After dispensing, the product is placed in a drying device for heat curing until the adhesive reaches its final strength.

[0004] After dispensing is completed, the product needs to be inspected for dispensing defects. In the existing technology, the product is usually inspected by controlling the product to move along a specified trajectory using a translation stage and collecting images within the trajectory range using a vision detector to detect whether there are any dispensing defects. However, if the product is placed in a slightly off position when the robot is transferring it, it is easy to miss some dispensing positions on the product.

[0005] To address this, a positioning fixture can be set on the translation stage to limit the product's movement and ensure comprehensive inspection. However, when the robot grips the product, due to its irregular shape, it typically uses the central hole of the product for positioning accuracy. This can easily lead to uneven force during gripping, causing the product to deviate around the central axis of the hole, resulting in the product failing to align with the positioning fixture. Summary of the Invention

[0006] The purpose of this invention is to provide a product dispensing defect detection device based on automatic positioning to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] An automatic positioning-based product dispensing defect detection device includes:

[0009] 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.

[0010] Also includes:

[0011] 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.

[0012] 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.

[0013] As a further embodiment of the present invention: the support clamping mechanism includes a support sleeve fixed on the support plate, a rotating rod sliding axially inside the support sleeve, a rotating plate fixed at the end of the rotating rod, and a plurality of circumferentially equidistant sliding grooves formed on the rotating plate, and a sliding block fixedly connected to the support column slidingly installed in the sliding groove;

[0014] 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.

[0015] As a further embodiment of the present invention: the guiding assembly includes a guide post fixed on the support plate, the guide post having a guide plate rotatably connected to the rotating rod along its axial direction, and a cylinder fixed on the guide plate.

[0016] As a further embodiment of the present invention: the driven component includes a sliding sleeve that slides along the axial direction of the rotating rod, a push plate fixedly connected to the cylinder is rotatably mounted on the sliding sleeve, and a hinge rod hinged to the sliding block is hinged on the sliding sleeve.

[0017] As a further embodiment of the present invention: the follower 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;

[0018] It also includes a sliding assembly and a meshing assembly disposed on the support plate.

[0019] As a further embodiment of the present invention: 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.

[0020] As a further embodiment of the present invention: 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.

[0021] As a further embodiment of the present invention: the elastic component includes a guide groove formed on the sliding plate, a sliding ring slidably mounted on the support sleeve, a protrusion fixed on the sliding ring that slidably engages with the guide groove, 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.

[0022] As a further embodiment of the present invention: the translation component includes a first guide rail fixed on the transverse translation platform, a longitudinal translation platform slidably mounted on the first guide rail, and a second guide rail fixed on the longitudinal translation platform and slidably connected to the movable plate.

[0023] As a further embodiment of the present invention: a limiting plate for limiting the product is fixed on the support column.

[0024] Compared with the prior art, the beneficial effects of the present invention are: the present invention can control multiple support columns to be in a retracted state before clamping and positioning the horn housing, so as to ensure that when the position of the horn housing is deviated due to clamping and transportation, that is, when the central axis of the rotating rod is misaligned with the circular hole, the support columns can be smoothly inserted into the circular hole, and when unfolded, the horn housing is centered to ensure that the horn housing can smoothly cooperate with the limiting ring.

[0025] Before detecting dispensing defects, the limiting block and the first and second spiral grooves work together to guide the limiting hole on the speaker housing to the position that matches the limiting post when the speaker housing swings at a small angle, whether clockwise or counterclockwise. This ensures that the speaker housing fits smoothly into the limiting post and ensures the accuracy of subsequent dispensing defect detection by the camera.

[0026] When positioning the horn housing, the follower rod, in conjunction with the horizontal and inclined grooves, can slow down the compression rate of the spring when the spring compression reaches a certain value. The spring also controls the follower rod to slide along the inclined groove through the movable ring. As a result, the thrust provided by the spring to the movable ring in the whole system is reduced, that is, the downward pressure provided by the support column and the limiting plate to the horn housing is reduced. This avoids the problem of the horn housing being deformed or cracked due to continuous compression of the spring when controlling the horn housing sway. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of one embodiment of a product dispensing defect detection device based on automatic positioning.

[0028] Figure 2 This is a structural schematic diagram from another angle of one embodiment of a product dispensing defect detection device based on automatic positioning.

[0029] Figure 3This is a schematic diagram of the robotic arm in one embodiment of an automatic positioning-based product dispensing defect detection device.

[0030] Figure 4 for Figure 3 A magnified schematic diagram of the structure at point A in the middle.

[0031] Figure 5 This is a schematic diagram of the structure of the translation component, camera, limiting ring, and limiting post in one embodiment of an automatic positioning-based product dispensing defect detection device.

[0032] Figure 6 This is a schematic diagram showing the connection relationship between a portion of the support clamping mechanism and a portion of the follow-up rotation mechanism in one embodiment of a product dispensing defect detection device based on automatic positioning.

[0033] Figure 7 for Figure 6 Another structural diagram from a different angle.

[0034] Figure 8 This is a schematic diagram showing the connection relationship between a portion of the support clamping mechanism, a portion of the follow-up rotation mechanism, and a portion of the elastic components in one embodiment of a product dispensing defect detection device based on automatic positioning.

[0035] Figure 9 This is a schematic diagram of the structure of a portion of the follow-up rotation mechanism and elastic component in one embodiment of a product dispensing defect detection device based on automatic positioning.

[0036] Figure 10 This is an exploded structural diagram of part of the follow-up rotating mechanism and elastic component in one embodiment of an automatic positioning-based product dispensing defect detection device.

[0037] Figure 11 This is an exploded view of part of the support and clamping mechanism in one embodiment of an automatic positioning-based product dispensing defect detection device.

[0038] In the diagram: 1. Support frame; 2. Horizontal moving stage; 201. First guide rail; 3. Vertical moving stage; 301. Second guide rail; 4. Movable plate; 5. Limiting ring; 6. Limiting post; 7. Camera; 8. Robotic arm; 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. Slide groove; 13. 14. Sliding block; 15. Support column; 16. Limiting plate; 17. Guide column; 18. Guide plate; 19. Cylinder; 20. Push plate; 21. Sliding sleeve; 22. Hinge rod; 23. Sliding ring; 2201. Protruding column; 23. Sliding plate; 2301. Horizontal groove; 2302. Inclined groove; 24. Follower plate; 2401. Slot; 25. Rack plate; 26. Gear; 27. Movable ring; 2701. Follower rod; 28. Spring. Detailed Implementation

[0039] 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.

[0040] 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 implementations.

[0041] Please see Figures 1-11 In this embodiment of the invention, a product dispensing defect detection device based on automatic positioning includes:

[0042] 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.

[0043] Also includes:

[0044] 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.

[0045] 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.

[0046] Specifically, during the production of car horn housings, the glue dispensing process needs to be completed, and the quality of the glue dispensing must be inspected to ensure that there are no defects such as insufficient glue, uneven thickness, or uneven width at the glue dispensing location. This can be achieved by controlling the movement of the support plate 9 via a robotic arm 8, which in turn controls the movement of the support columns 14 to the glue dispensing machine via a support clamping mechanism. When multiple support columns 14 are inserted into the central hole of the horn housing, the support clamping mechanism controls the multiple support columns 14 to move away from each other until the support columns 14 abut against the inner wall of the central hole of the horn housing, thus clamping the horn housing. At this point, the robotic arm 8 guides the horn housing to move above the movable plate 4 and into a mating position with the limiting ring 5. Since the horn housing may experience a certain angular displacement during clamping, if the limiting hole formed on the back of the glued horn housing aligns with the limiting column 6... When misaligned, the speaker housing will abut against the limiting post 6. The support clamping mechanism drives the follow-up rotation mechanism to rotate the speaker housing around the central axis of the circular hole via the support post 14 until the limiting hole moves to the position where it mates with the limiting post 6. During this process, the elastic component will keep the support force of the support post 14 on the speaker housing within a certain range to prevent the speaker housing from being damaged due to excessive force between the speaker housing and the limiting post 6. The speaker housing will then control the limiting hole to quickly fit onto the limiting post 6. Under the action of the limiting post 6, the speaker housing is centered. At this time, the support clamping mechanism controls the support post 14 to separate from the speaker housing. Under the action of the translation component, the movable plate 4 controls the speaker housing to move to the position where it mates with the camera 7 to detect defects at the glue application position of the speaker housing.

[0047] Please see Figure 1 , Figure 2 , Figure 5 The translation component includes a first guide rail 201 fixed on the transverse stage 2, a longitudinal stage 3 slidably mounted on the first guide rail 201, and a second guide rail 301 fixed on the longitudinal stage 3 and slidably connected to the movable plate 4.

[0048] Please see Figures 1-4 , Figures 6-9 , Figure 11The support clamping mechanism includes a support sleeve 10 fixed to the support plate 9, a rotating rod 11 axially sliding inside the support sleeve 10, a rotating plate 12 fixed to the end of the rotating rod 11, and a plurality of circumferentially equidistant sliding grooves 1201 formed on the rotating plate 12, all of which extend radially along the rotating plate 12. Sliding blocks 13, fixedly connected to the support column 14, are slidably installed within the sliding grooves 1201. The mechanism also includes a guide assembly and a driven assembly disposed on the support plate 9 for adjusting the spacing between the plurality of sliding blocks 13. The actuator includes a guide post 16 fixed on the support plate 9, a guide plate 17 rotatably connected to the rotating rod 11 and slidably on the guide post 16, and a cylinder 18 fixed on the guide plate 17. The driven assembly includes a sliding sleeve 20 that slides axially along the rotating rod 11, a push plate 19 fixedly connected to the telescopic end of the cylinder 18 and rotatably mounted on the sliding sleeve 20, the push plate 19 and the sliding sleeve 20 being able to slide synchronously along the rotating rod 11, and a hinge rod 21 hinged to the sliding block 13 on the sliding sleeve 20.

[0049] A limiting plate 15 for limiting the position of the product is fixed on the support column 14.

[0050] In detail, a through circular hole is formed at the center of the speaker housing, and a positioning hole is formed on the back of the adhesive-coated part of the speaker housing. The support column 14 is inserted into the circular hole and abuts against the inner wall of the circular hole. The positioning plate 15 abuts against the side of the speaker housing. The translation assembly also includes a transverse lead screw and a longitudinal lead screw. The transverse lead screw is rotatably mounted on the transverse stage 2. A first threaded sleeve that is fixedly connected to the longitudinal stage 3 is threaded on the transverse lead screw. The longitudinal lead screw is rotatably mounted on the longitudinal stage 3. A second threaded sleeve that is fixedly connected to the movable plate 4 is threaded on the longitudinal lead screw. Both the transverse lead screw and the longitudinal lead screw are driven by a motor.

[0051] In the initial state, under the action of cylinder 18, push plate 19 and sliding sleeve 20 are located at the end of their stroke away from rotating plate 12. Sliding sleeve 20 will control sliding block 13 to be located at the end of its stroke on the side of slide groove 1201 through hinge rod 21, and the spacing between multiple sliding blocks 13 is the smallest. In this regard, the spacing between multiple support columns 14 is the smallest. Under the action of transverse screw and longitudinal screw, movable plate 4 is located in the feeding position so that limit ring 5 and limit column 6 are also located in the specified position.

[0052] After the horn housing is glued, the robot arm 8 controls the support column 14 to move toward the horn housing and inserts it into the round hole. The limiting plate 15 abuts against the side of the horn housing. At this time, the cylinder 18 pushes the push plate 19 to slide along the axis of the rotating rod 11 and move toward the rotating plate 12, thereby driving the sliding sleeve 20 to move. The sliding sleeve 20 will control the sliding block 13 to slide along the slide groove 1201 through the hinge rod 21 and move away from the rotating rod 11, thereby controlling the multiple support columns 14 and the limiting plate 15 to move away from each other. When the support column 14 abuts against the inner wall of the round hole, it means that the horn housing clamping is completed.

[0053] Subsequently, the robot arm 8 controls the support column 14 to move above the movable plate 4 and to engage with the limiting ring 5. The robot arm 8 continues to control the support plate 9 to move toward the movable plate 4, thereby driving the rotating plate 12 to move through the support sleeve 10 and the rotating rod 11, so as to control the horn housing to move toward the limiting ring 5 through the support column 14 and the limiting plate 15.

[0054] When the limiting hole formed on the back of the horn housing is fitted onto the limiting post 6 and the horn housing abuts against the limiting ring 5, it indicates that the horn housing has been placed. At this time, the cylinder 18 controls the push plate 19 and the sliding sleeve 20 to reset, and under the action of the hinge rod 21, controls the sliding block 13 to move toward each other so that the support post 14 is separated from the round hole. At the same time, under the action of the robot arm 8, the support post 14 and the limiting plate 15 are guided to separate from the horn housing.

[0055] At this time, the motor controls the rotation of the horizontal lead screw and the vertical lead screw, so as to control the movement of the longitudinal stage 3 and the movable plate 4 through the first threaded sleeve and the second threaded sleeve, thereby driving the speaker housing to move to the detection position through the limit ring 5 and the limit post 6. Under the action of the camera 7, the defect detection of the glue dotting position on the surface of the speaker housing is performed.

[0056] Please see Figures 1-4 , Figures 6-10The following rotation mechanism includes a guide groove formed on the outer circumference of the rotating rod 11, and a limiting block 1001 that slides and engages with the guide groove is fixed on the inner wall of the support sleeve 10; it also includes a sliding assembly and a meshing assembly disposed on the support plate 9. The sliding assembly includes a third guide rail 901 fixed on the support plate 9, a sliding plate 23 slidably mounted on the third guide rail 901, a following plate 24 slidably mounted inside the sliding plate 23, a slot 2401 formed on the following plate 24, a movable ring 27 rotatably mounted on the rotating rod 11 and unable to slide along the axial direction of the rotating rod 11, a following rod 2701 that slides and engages with the slot 2401 is fixed on the movable ring 27, and the meshing assembly includes a gear 26 fixed on the rotating rod 11, and a rack plate 25 that meshes with the gear 26 is fixed on the following plate 24.

[0057] Please see Figures 8-10 The elastic component includes a guide groove formed on the sliding plate 23, a sliding ring 22 that slides axially on the support sleeve 10, a protrusion 2201 that slides and engages with the guide groove fixed on the sliding ring 22, and a spring 28 sleeved on the support sleeve 10 and the rotating rod 11, with the two ends of the spring 28 abutting against the sliding ring 22 and the movable ring 27 respectively.

[0058] Please see Figure 10 Furthermore, the guide groove can be divided into two sections, namely a first spiral groove 1101 and a second spiral groove 1102. One end of the first spiral groove 1101 and the second spiral groove 1102 are connected to each other, and the pitch of the first spiral groove 1101 and the second spiral groove 1102 is equal. The forming angle of the second spiral groove 1102 in the circumferential direction is greater than that of the first spiral groove 1101.

[0059] Please see Figure 9 , Figure 10 The guide groove is also divided into two sections, namely a horizontal groove 2301 and an inclined groove 2302. One end of the horizontal groove 2301 and the inclined groove 2302 are connected to each other, and the length of the horizontal groove 2301 is slightly greater than the length of the inclined groove 2302 in the horizontal direction. Therefore, the center reference plane of the sliding plate 23 passes through the horizontal groove 2301.

[0060] A key is fixed on the outer circumference of the support sleeve 10, and a keyway is formed on the inner wall of the sliding ring 22 to cooperate with the key. Under the action of the key and the keyway, the sliding ring 22 can only slide along the axial direction of the support sleeve 10 and cannot rotate.

[0061] In the initial state, the rotating rod 11 is located at the end of its stroke away from the support plate 9, so that the limiting block 1001 is located at the end of its stroke on the side of the first spiral groove 1101 away from the second spiral groove 1102. Under the action of the sliding ring 22, the protrusion 2201 is located in the transverse groove 2301. At this time, the distance between the movable ring 27 and the sliding ring 22 is the largest. Under the action of the movable ring 27, the follower plate 24 is controlled to be in the extended state by the follower rod 2701 and the slot 2401 to ensure that the rack plate 25 and the gear 26 are always in the extended state. In the engaged state, the elongation of spring 28 in its natural state is greater than the maximum distance between sliding ring 22 and movable ring 27. Therefore, spring 28 is in a pre-compressed state and always provides a thrust to movable ring 27 in the direction away from support plate 9. When limiting the movement of rotating rod 11 in the direction closer to support plate 9, the cooperation of limiting block 1001 and first spiral groove 1101 causes rotating rod 11 to rotate clockwise. The cooperation of limiting block 1001 and second spiral groove 1102 causes rotating rod 11 to rotate counterclockwise.

[0062] When it is necessary to clamp the horn housing, the robotic arm 8 guides the retracted support column 14 to be inserted into the round hole, and the cylinder 18 controls the multiple support columns 14 to unfold until the support column 14 fits against the inner wall of the round hole, indicating that the horn housing is in a clamped state. Subsequently, the robotic arm 8 controls the horn housing to move to the position that matches the limiting ring 5 and the limiting column 6 through the support column 14.

[0063] Since the product clamping and transportation require the speaker housing to be moved, the position of the speaker housing may be deviated during the movement. The movement trajectory of the robot arm 8 is set by the program. If the position of the speaker housing is deviated, the central axis of the rotating rod 11 may be misaligned with the circular hole when the support column 14 clamps the speaker housing. Since the support column 14 is in a retracted state at this time, multiple support columns 14 can be smoothly inserted into the circular hole and, when unfolded, center the speaker housing to ensure that the speaker housing can smoothly cooperate with the limiting ring 5 later.

[0064] When the support column 14 centers the horn housing through the round hole, the horn housing itself may shift around the central axis of the round hole, causing the limiting hole on the horn housing to be misaligned with the limiting column 6. Therefore, when the robot arm 8 drives the horn housing to be placed on the limiting ring 5, there will be three possibilities.

[0065] First, during center positioning, the horn housing does not shift, and the limiting hole is always in the position of engaging with the limiting post 6. At this time, the robot arm 8 controls the support post 14 to move toward the limiting ring 5 until the limiting hole is fitted onto the limiting post 6 and the horn housing abuts against the limiting ring 5.

[0066] Second, during center positioning, the horn housing shifts and rotates counterclockwise by a certain angle around the circular hole as the rotation center. This causes the limiting hole and the limiting post 6 to misalign. Therefore, when the horn housing comes into contact with the limiting post 6, the horn housing stops moving. At this time, the support plate 9 continues to move toward the movable plate 4, causing the size of the support sleeve 10 and the rotating rod 11 to gradually increase and compress the spring 28, 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 rotates clockwise, thereby controlling the movement of the support post 14 through the rotating plate 12 and the sliding block 13, so as to drive the horn housing to rotate clockwise.

[0067] Meanwhile, under the action of the movable ring 27, the size of the follower plate 24 and the sliding plate 23 that are fitted together are controlled by the follower rod 2701 and the slot 2401 to increase synchronously, so as to ensure that the gear 26 and the rack plate 25 are always in meshing state. When the rotating rod 11 rotates, it drives the gear 26 to rotate, and under the action of the rack plate 25, it controls the follower plate 24 and the sliding plate 23 to slide along the third guide rail 901. The sliding plate 23 will drive the horizontal groove 2301 and the inclined groove 2302 to move, so that the protrusion 2201 slides relative to the sliding plate 23 along the horizontal groove 2301.

[0068] After the horn housing is rotated clockwise to compensate for the deviation angle, the limiting hole moves to the position to cooperate with the limiting post 6 and is smoothly fitted into the limiting post 6. At this time, the angle of the horn housing is locked, the spring 28 is released elastically, and the rotating rod 11 is pushed to move through the movable ring 27, so that the limiting block 1001 returns to the initial position along the first spiral groove 1101. During this process, the rotating rod 11 reverses and returns to the initial angle. When the rotating rod 11 reverses, it will also drive the support post 14 to reverse around the rotating rod 11. Since the horn housing has been locked, the support post 14 will not drive the horn housing to move and will rub against the circumferential direction of the inner wall of the circular hole until the limiting block 1001 returns to the initial position.

[0069] Third, during center positioning, the horn housing shifts and rotates clockwise around the circular hole as the center of rotation. When the horn housing abuts against the limiting post 6, the limiting block 1001 and the first spiral groove 1101 will also control the rotating rod 11 to rotate clockwise. This causes the limiting hole to further deviate from the limiting post 6. When the limiting block 1001 moves to the connection position of the first spiral groove 1101 and the second spiral groove 1102, the deviation between the limiting hole and the limiting post 6 reaches its maximum, and the clockwise rotation angle of the rotating rod 11 also reaches its 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 end of the stroke on the side of the support plate 9, so that the follower rod 2701 is located at the end of the stroke on the side of the transverse groove 2301 away from the inclined groove 2302.

[0070] Subsequently, the support sleeve 10 continues to move, causing the limiting block 1001 to enter the second spiral groove 1102. At this time, the rotating rod 11 rotates counterclockwise, thereby driving the horn housing to rotate counterclockwise, causing the limiting hole to gradually move toward the position that cooperates with the limiting post 6. The rotating rod 11 will control the follower plate 24 and the sliding plate 23 to slide toward the other side of the support plate 9 through the gear 26 and the rack plate 25, so that the protrusion 2201 slides relative to the sliding plate 23 along the horizontal groove 2301 toward the inclined groove 2302. When the rotating rod 11 returns to the initial angle, the rotating rod 11 will continue to rotate counterclockwise. At this time, the protrusion 2201 will disengage from the horizontal groove 2301 and enter the inclined groove 2302.

[0071] Under the action of the inclined groove 2302 and the protruding post 2201, the sliding ring 22 moves towards the support plate 9. The pitch of the spiral projection formed by the inclined groove 2302 projected onto the rotating rod 11 is smaller than the pitch of the second spiral groove 1102. As a result, relative to the support plate 9, the movable ring 27 and the sliding ring 22 also move towards the support plate 9, and the movement speed of the movable ring 27 is greater than that of the sliding ring 22. As a result, the compression rate of the spring 28 is slowed down, and the spring 28 will control the protruding post 2201 to have a tendency to slide along the inclined groove 2302 through the sliding ring 22. As a result, 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 post 14 and the limiting plate 15 to the horn housing is reduced, thereby avoiding the problem of the horn housing being deformed or cracked due to the continuous compression of the spring 28 when controlling the horn housing to wobble.

[0072] As the rotating rod 11 continues to rotate counterclockwise and controls the movement of the limiting hole to the position where it engages with the limiting post 6, the limiting hole will fit into the limiting post 6, thus locking the angle of the horn housing. At this time, the spring 28 is released elastically, causing the rotating rod 11 to return to its initial angle. Under the action of the cylinder 18, the support post 14 is controlled to retract, and under the action of the robot arm 8, the support post 14 is controlled to separate from the limiting plate 15, thereby completing the positioning and placement of the horn housing.

[0073] In summary, through the cooperation of the limiting block 1001 and the first spiral groove 1101 and the second spiral groove 1102, it is possible to guide the limiting hole on the speaker housing to the position that mates with the limiting post 6 when the speaker housing deflects at a small angle, whether clockwise or counterclockwise. This ensures that the speaker housing is smoothly fitted onto the limiting post 6, thus ensuring the accuracy of the subsequent glue defect detection by the camera 7. At the same time, with the cooperation of the follower rod 2701 and the horizontal groove 2301 and the inclined groove 2302, the downward pressure provided by the spring 28 can be reduced when the compression of the spring 28 reaches a certain value, so as to ensure that the speaker housing will not be damaged due to excessive downward pressure during the positioning process.

[0074] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0075] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

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: The robotic arm is mounted on a bracket. A support plate is fixed to the robotic arm, and a support clamping mechanism is set on the support plate. Multiple support columns are connected to the support clamping mechanism in a circumferentially equidistant manner. A follower rotation mechanism is mounted on the support plate and connected to the support clamping mechanism. The follower rotation mechanism is equipped with an elastic component. When the support column drives the support clamping mechanism to move due to being limited, the follower rotation mechanism can adjust the support force on the support column through the elastic component. The support clamping mechanism includes a support sleeve fixed to a support plate, a rotating rod that slides axially inside the support sleeve, a rotating plate fixed to the end of the rotating rod, and multiple circumferentially distributed grooves formed on the rotating plate. Sliding blocks that are fixedly connected to the support column are slidably installed in the grooves. It also includes a guide assembly and a driven assembly mounted on the support plate for adjusting the spacing between multiple sliding blocks; The guide assembly includes a guide post fixed to a support plate, a guide plate rotatably connected to a rotating rod that slides axially on the guide post, and a cylinder fixed on the guide plate. The driven component includes a sliding sleeve that slides along the axis 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. The follower 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 mounted on the support plate; The sliding assembly includes a third guide rail fixed to a 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. The meshing assembly includes a gear fixed on a rotating rod, and a rack plate fixed on the follower plate that meshes with the gear; 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 fitted 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.

2. 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 translation stage, a longitudinal translation stage slidably mounted on the first guide rail, and a second guide rail fixed on the longitudinal translation stage and slidably connected to the movable plate.

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

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