Safety distance detection device for robots

Abstract

The application provides a safety distance detection device for a robot, which comprises a workbench, an upper scanning assembly arranged above the workbench and used for scanning a workpiece from the top, a side scanning assembly mounted on a bearing assembly and capable of moving around the periphery of the workpiece in a ring shape and ascending and descending along the vertical direction with the bearing assembly, a side lighting assembly arranged on the bearing assembly and used for providing lateral light compensation for the upper scanning assembly at different heights so as to improve the identification accuracy of defects and burrs, a polishing robot arranged on one side of the workbench, and a self-rotating polishing piece mounted at the end of the mechanical arm. Through the combination of the top scanning and the lateral ring scanning, the identification integrity of the real profile and the defect area of the workpiece can be improved, and a corresponding polishing path is generated by an image processing system. In addition, the workpiece size, the movement range of the mechanical arm and the size of the polishing piece are combined for avoidance analysis, so that sufficient safety distance is reserved during the movement of the mechanical arm, and the possibility of interference and collision between the mechanical arm and the workpiece is reduced.

Description

Technical Field

[0001] This invention relates to the field of safe distance detection during workpiece grinding, specifically a safe distance detection device for robots. Background Technology

[0002] In the grinding process of existing non-standard workpieces, castings, and workpieces with large dimensional errors, the variety of workpiece types and significant structural differences, along with common issues such as large dimensional deviations, irregular contours, obvious local deformations, and random surface burr distribution, make it difficult to reliably adapt traditional grinding methods that rely on fixed trajectories or manual teaching. This is especially true for castings, which are prone to problems such as flash, burrs, local protrusions, warping, and contour deviations during casting, cooling, and demolding. Furthermore, significant individual differences often exist between different batches of workpieces, resulting in a substantial deviation between the theoretical model and the actual workpiece shape.

[0003] Existing grinding equipment typically employs unidirectional visual inspection, fixed-position scanning, or preset path processing methods. While these methods can achieve a certain degree of automation for regular workpieces, they are prone to problems such as incomplete contour recognition, missed detection of local defects, and inaccurate positioning of the grinding area when dealing with workpieces with complex shapes, large dimensional errors, or irregular surfaces. Particularly when the workpiece has sidewall obstructions, significant surface curvature, or obvious surface reflection, single-angle acquisition methods struggle to obtain complete workpiece shape information, preventing the image system from accurately establishing the workpiece's true contour and consequently affecting the reliability of subsequent grinding path planning.

[0004] Meanwhile, some existing automated grinding systems rely on theoretical models or fixed tooling positioning results as references during path generation, lacking the ability to comprehensively analyze the actual dimensions of the workpiece, local protruding areas, and the movement posture of the robotic arm. Therefore, when the robotic arm performs grinding actions, motion interference problems are easily caused by workpiece size deviations, protruding contours, or posture changes, leading to a risk of collision between the robotic arm, the grinding part, and the workpiece, which in turn affects the stability of equipment operation and processing safety.

[0005] Therefore, a safe distance detection device for robots is provided to address the above-mentioned problems. Summary of the Invention

[0006] This invention addresses the problems of incomplete contour recognition, inaccurate defect area positioning, poor image acquisition of complex surfaces, and easy motion interference and collision during the automated grinding process of non-standard workpieces and workpieces with large size errors. It provides a safety distance detection device for robots with dynamic supplementary lighting.

[0007] The present invention solves the above-mentioned technical problems through the following technical solutions: The present invention provides a safety distance detection device for a robot, including a worktable, wherein an upper scanning component for scanning and detecting a workpiece from the top is disposed at the upper center of the worktable; A side scanning component for workpiece side inspection is mounted on a carrier component, which is mounted on a support component. The side scanning component can move in a circular trajectory around the periphery of the workpiece on the carrier component, and the side scanning component and the carrier component move up and down synchronously in the vertical direction on the support component. It also includes a side illumination component mounted on the carrier component, which provides side light at different heights to the upper scanning component, thereby facilitating the detection of defects and burrs by the upper scanning component; A grinding robot includes a robotic arm mounted on one side of a worktable, with a self-rotating grinding component mounted on the end of the robotic arm. The grinding component is preferably a grinding wheel or a sanding belt.

[0008] This invention utilizes an upper scanning component located at the top of the workpiece and a side scanning component that can rotate circumferentially around the workpiece and move vertically up and down. This allows for image acquisition of the workpiece from both a top and a side-to-side circumferential perspective. The upper scanning component primarily acquires macroscopic positional information of the workpiece's overall contour, planar boundaries, regional distribution, and the area to be processed. The side scanning component acquires detailed feature information such as the workpiece's sidewall contour, height variations, local protrusions, burr areas, and defect areas. By combining top and side-to-side scanning, a more comprehensive and complete image data acquisition of the workpiece's outer contour and complex areas can be achieved, thereby improving the accuracy of identifying the workpiece's true shape and surface features.

[0009] In this technical solution, the support assembly includes two symmetrically arranged support units, on which lifting plates are installed, and the load-bearing assembly is installed on the two lifting plates.

[0010] The support unit includes two symmetrically arranged support rods, which are arranged vertically. The tops of both support rods are fixed to the mounting plate, and a screw is provided between the two support rods. The bottom of the screw is mounted on the worktable and can rotate on the worktable. The first motor is fixed to the top of the mounting plate, and the output end of the first motor at the bottom passes through the mounting plate and is fixed to the top of the screw. A threaded sleeve is fixed at the center of the lifting plate, and guide sleeves are fixed on both sides of the threaded sleeve. The threaded sleeve is sleeved on the screw rod, and the two guide sleeves are slidably sleeved on the two support rods respectively.

[0011] In this technical solution, the support component includes a support plate with an annular structure. A first guide rail with the same annular structure and an annular transmission rack that is connected to the side scanning component are fixed on the support plate. The support plate, the first guide rail and the transmission rack are all concentrically arranged. The support plate is fixed to the two lifting plates.

[0012] Specifically, the transmission rack is sleeved on the outside of the first guide rail.

[0013] In this technical solution, the side scanning component includes a carrier slider, which is slidably connected to the first guide rail of the carrier component and slides in a circular trajectory on the carrier component. A mounting bracket is fixed on the top of the carrier slider, and a second motor is fixed on the mounting bracket. The second motor is connected to the traveling gear through a transmission part, and the traveling gear is connected to the carrier component. A side camera is fixed on the outer wall of the slider near the center of the worktable.

[0014] In this technical solution, the upper scanning component includes an upper camera module, which is fixed between two mounting plates. A ring-shaped second supplementary light is provided at the bottom of the upper camera module. The second supplementary light is coaxially arranged with the lens of the upper camera module and is fixed on the housing of the upper camera module.

[0015] In this technical solution, the side illumination component includes multiple side illumination units arranged in a ring array and fixed in position. Each side illumination unit includes a connecting frame, on which a side illumination lamp with an arc-shaped structure is mounted, and the connecting frame is fixed to the supporting component. All sidelights are coaxially arranged, meaning all curved sidelights are located on the same circle and at the bottom of the side scanning assembly.

[0016] This technical solution also includes an adjustment part for adjusting the elevation and depression angles of the side illumination lamp. The adjustment part moves synchronously with the side scanning component, and the moving adjustment part passes through the side illumination lamp, pushing the side illumination lamp to rotate vertically, thereby adjusting the elevation and depression angles of the side illumination lamp.

[0017] In this technical solution, the adjustment part includes a transmission ring coaxially arranged with the circular trajectory of the side scanning component. The transmission ring rotates as the side scanning component moves. The side illumination lamp is rotatably connected to the connecting frame, and a coil spring is provided at the rotatable connection between the connecting frame and the side illumination lamp. The two ends of the coil spring are respectively fixed to the connecting frame and the side illumination lamp. Multiple wave-shaped transmission parts are provided on the top side wall of the transmission ring. The transmission parts are arranged in a ring array and the number is the same as that of the side illumination unit. One end of a fixed-length traction part is attached to the top side wall of the transmission ring, and the other end of the traction part is connected to the side illumination lamp.

[0018] Furthermore, multiple transmission sliders arranged in a ring array are fixed on the outer ring sidewall of the transmission ring. The transmission sliders are slidably connected to the ring-shaped second guide rail, which is fixed to the bearing assembly by a rod. The drive ring or one of the drive sliders is fixed to the side scanning assembly via a synchronizing rod.

[0019] In this technical solution, the transmission part includes a protruding end and a recessed end continuously provided on the top side wall of the transmission ring. The top side wall of the transmission ring between two adjacent transmission parts is a flat end. Under the action of the coil spring, the top of the pulling part always overlaps the flat end, the protruding end and the recessed end.

[0020] Based on common knowledge in the field, the above-mentioned preferred conditions can be combined arbitrarily to obtain various preferred embodiments of the present invention.

[0021] The positive and progressive effects of this invention are as follows: By setting up an upper scanning component located on top of the workpiece and a side scanning component that can rotate circumferentially around the workpiece and move vertically up and down, images of the workpiece can be acquired from both top and side multi-angle perspectives. The upper scanning component primarily acquires macroscopic positional information of the workpiece's overall contour, planar distribution, boundary range, and the area to be processed. The side scanning component acquires detailed feature information such as the workpiece's sidewall contour, height variations, local protrusions, burr areas, and defect areas. By combining top scanning with side-circumferential scanning, more complete image data acquisition of the workpiece's outer contour and complex areas can be achieved, thereby improving the accuracy of recognizing the workpiece's true shape.

[0022] As the side scanning component rotates around the workpiece, it can continuously scan local areas of the workpiece in different directions, enabling the image processing system to obtain contour change information and defect distribution information of the workpiece from multiple angles. For some burr areas or abnormal protrusion areas that are difficult to identify from a single viewpoint due to occlusion, surface changes, or reflection, it can also supplement the identification through multi-angle image complementarity, thereby improving the completeness and stability of burr and defect area identification.

[0023] Based on image information acquired by the upper and side scanning components using existing image processing systems, the outer contour boundary of the workpiece, the range of the area to be polished, the local protrusion height, and the location of defects are analyzed, and corresponding polishing path information is generated. During the path generation process, the overall dimensions of the workpiece, the radius of motion of the robotic arm, the size of the polishing part, and the range of changes in the robotic arm's posture can be combined to perform avoidance analysis on the robotic arm's movement path. This allows sufficient safety distance to be reserved during the movement of the robotic arm, reducing the possibility of interference and collision between the robotic arm, the polishing part, and the non-processed area of ​​the workpiece, thereby improving the safety and stability of the robotic arm's movement.

[0024] Simultaneously, by moving the side illumination component and the supporting component synchronously in the vertical direction, the side illumination component can always correspond to the height of the current scanning area, thereby continuously providing lateral supplementary lighting to the upper scanning component at different height positions. Since the curvature, reflectivity, and occlusion of different height areas on the workpiece surface vary, synchronous supplementary lighting at different heights by the side illumination component can improve problems such as edge blurring, shadow occlusion, and contour loss caused by insufficient lighting in local areas.

[0025] Furthermore, the lateral incident light generated by the side illumination component at different height positions can enhance the contrast between light and dark areas of burrs, flash, protrusions, and defective areas on the workpiece surface, making subtle contour features more prominent, thereby improving the recognition accuracy of the upper scanning component for workpiece edge contours and defective areas. Especially for castings with irregular surfaces and large dimensional errors, dynamic lateral illumination at different height positions can enhance the image processing system's ability to extract the true contour state of the workpiece, thus improving the accuracy and reliability of subsequent grinding path generation. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 For the present invention Figure 1 A schematic diagram of the robot structure after the blanking process is completed; Figure 3 For the present invention Figure 2 A magnified schematic diagram of the structure at point I; Figure 4 This is a schematic diagram of the side scanning component of the present invention; Figure 5 For the present invention Figure 4 A structural diagram from another perspective; Figure 6 This is a schematic diagram of the structure of the load-bearing component of the present invention; Figure 7 For the present invention Figure 6 A top-view structural diagram; Figure 8 For the present invention Figure 7 Schematic diagram of the cross-sectional structure at point AA; Figure 9 For the present invention Figure 8 A magnified schematic diagram of the structure at point J; Figure 10 For the present invention Figure 2 A schematic diagram of the structure after adding the side illumination component; Figure 11 This is a schematic diagram of the structure of the side illumination component and the side scanning component of the present invention; Figure 12For the present invention Figure 11 A schematic diagram of the side view structure; Figure 13 This is a schematic diagram of the structure of the side illumination component of the present invention; Figure 14 This is a schematic diagram of the transmission ring structure of the present invention; Figure 15 For the present invention Figure 14 A magnified schematic diagram of the structure at point K.

[0027] Explanation of reference numerals in the attached figures 1. Workbench; 2. Support assembly; 21. Support rod; 22. Mounting plate; 23. Lifting plate; 231. Threaded sleeve; 232. Guide sleeve; 24. First motor; 25. Screw; 3. Robotic arm; 31. Grinding parts; 4. Bearing assembly; 41. Bearing plate; 42. Transmission rack; 43. First guide rail; 5. Side scanning assembly; 51. Carrying slider; 52. Side camera unit; 521. Side camera module; 522. First supplementary light fixture; 53. Mounting bracket; 54. Second motor; 55. Drive pulley; 56. Driven pulley; 57. Transmission belt; 58. Travel gear; 6. Side illumination assembly; 61. Connecting frame; 62. Side illumination lamp; 63. Transmission slider; 631. Synchronizing rod; 64. Second guide rail; 65. Transmission ring; 651. Flat end; 652. Recessed end; 653. Protruding end; 66. Pulling part; 661. Transmission roller; 662. Connecting rod; 663. Limiting slider; 664. Limiting guide rail; 7. Upper scanning component; 71. Upper camera module; 72. Second supplementary lighting fixture. Detailed Implementation

[0028] The present invention will be further illustrated by way of embodiments below, but the present invention is not limited to the scope of the embodiments.

[0029] like Figure 1 As shown, a safety distance detection device for a robot includes a worktable 1, and an upper scanning component 7 for scanning and detecting a workpiece from the top is provided at the center of the upper part of the worktable 1. The side scanning component 5 is used for side inspection of workpieces. The side scanning component 5 is mounted on the carrier component 4, and the carrier component 4 is mounted on the support component 2. The side scanning component 5 can move around the periphery of the workpiece on the carrier component 4 in a circular trajectory. The side scanning component 5 and the carrier component 4 move up and down synchronously in the vertical direction on the support component 2. It also includes a side illumination component 6 disposed on the carrier component 4, which provides side light at different heights to the upper scanning component 7, thereby facilitating the upper scanning component 7 to detect defects and burrs; The grinding robot includes a robotic arm 3, which is mounted on one side of the worktable 1, and a self-rotating grinding component 31 is mounted on the end of the robotic arm 3. The grinding component 31 is preferably a grinding wheel or a sanding belt.

[0030] In this application, the outer contour of the workpiece and the burr and defect areas are acquired in detail by the top scanning component 7 located at the top and the side scanning component that can rotate around the workpiece and can be raised and lowered. This facilitates the design of the grinding path of the robotic arm 3 driving the grinding part 31 and provides sufficient safety distance for the robotic arm 3 when it moves.

[0031] By moving synchronously with the support component 4 in the vertical direction, the side illumination component 6 can provide different side illumination adjustments for the upper scanning component 7 at different heights.

[0032] Example 1 In this embodiment, as Figure 2 As shown, the support assembly 2 includes two symmetrically arranged support units, on which lifting plates 23 are installed, and the load-bearing assembly 4 is installed on the two lifting plates 23.

[0033] The support unit includes two symmetrically arranged support rods 21, which are arranged vertically. The tops of the two support rods 21 are fixed to the mounting plate 22. A screw 25 is provided between the two support rods 21. The bottom of the screw 25 is installed on the worktable 1 and can rotate on the worktable 1. The top of the mounting plate 22 is fixed with a first motor 24, and the output end of the bottom of the first motor 24 passes through the mounting plate 22 and is fixed to the top of the screw 25. A threaded sleeve 231 is fixed at the center of the lifting plate 23. Guide sleeves 232 are fixed on both sides of the threaded sleeve 231. The threaded sleeve 231 is sleeved on the screw 25, and the two guide sleeves 232 are slidably sleeved on the two support rods 21 respectively.

[0034] The first motor 24 drives the screw 25 to rotate on the worktable 1, thereby causing the threaded sleeve 231 on the screw 25 to move vertically, which in turn causes the lifting plate 23 to rise and fall vertically. This enables the side scanning component 5 and the side illumination component 6 to rise and fall vertically.

[0035] The sliding between the guide sleeve 232 and the support rod 21 makes the movement of the lifting plate 23 more stable.

[0036] Example 2 like Figure 6-8As shown, the support component 4 includes a support plate 41 with an annular structure. A first guide rail 43 with the same annular structure and an annular transmission rack 42 that is connected to the side scanning component 5 are fixed on the support plate 41. The support plate 41, the first guide rail 43 and the transmission rack 42 are all concentrically arranged. The support plate 41 is fixed on the two lifting plates 23.

[0037] Specifically, the transmission rack 42 is fitted onto the outside of the first guide rail 43.

[0038] Example 3 like Figure 3-5 As shown, the side scanning component 5 includes a carrier slider 51, which is slidably connected to the first guide rail 43 of the carrier component 4 and slides in a circular trajectory on the carrier component 4. A mounting bracket 53 is fixed on the top of the carrier slider 51, and a second motor 54 is fixed on the mounting bracket 53. The second motor 54 is connected to the walking gear 58 through a transmission part, and the walking gear 58 is connected to the carrier component 4. A side camera 52 is fixed on the outer wall of the supporting slider 51 near the center of the worktable 1.

[0039] Specifically, the traveling gear 58 meshes with the transmission rack 42. The second motor 54 drives the traveling gear 58 to rotate via the transmission unit. During its rotation, the traveling gear 58, under the action of gear meshing, pushes itself, the mounting bracket 53, and the bearing slider 51 to slide in a circular trajectory on the first guide rail 43. This causes the side camera unit 52 to move in a ring around the workpiece at the center of the worktable 1, thereby capturing a relatively comprehensive image of the side of the workpiece for inspection.

[0040] Furthermore, the transmission unit includes a drive pulley 55 and a driven pulley 56, both of which are mounted on a mounting bracket 53 and can rotate on the bracket 53. The drive pulley 55 and driven pulley 56 are connected by a transmission belt 57 wound around their surfaces. The drive pulley 55 is fixed to the output tube of the second motor 54, and the driven pulley 56 is coaxially fixed to the traveling gear 58. The diameter of the drive pulley 55 is larger than the diameter of the driven pulley 56, thus increasing the transmission ratio.

[0041] The first motor 24 drives the drive pulley 55 to rotate, which in turn drives the driven pulley 56 to rotate, and in turn drives the traveling gear 58, which is coaxially fixed with the driven pulley 56, to rotate. The rotating traveling gear 58 moves on the transmission rack 42 that meshes with it, thereby driving the carrying slider 51 to slide on the first guide rail 43 of the annular structure, and pushing the side camera unit 52 to move in an annular trajectory.

[0042] The side camera unit 52 includes a side camera module 521, which is fixed on the outer wall of the supporting slider 51. A first supplementary light fixture 522 with a ring structure is provided around the camera module. The first supplementary light fixture 522 is coaxially arranged with the lens of the side camera module 521 and is fixed on the housing of the side camera module 521.

[0043] Example 4 like Figure 2 As shown, the upper scanning component 7 includes an upper camera module 71, which is fixed between two mounting plates 22. A ring-shaped second supplementary light fixture 72 is provided at the bottom of the upper camera module 71. The second supplementary light fixture 72 is coaxially arranged with the lens of the upper camera module 71 and is fixed on the housing of the upper camera module 71.

[0044] Specifically, in addition to the upper camera module 71 and the side camera module 521 respectively used for acquiring image information, the upper scanning component 7 and the side scanning component 5 are also connected to an image processing system. The image processing system is used to receive, analyze and process the image data acquired by the upper camera module 71 and the side camera module 521 to identify the area to be polished on the surface of the workpiece, and generate corresponding polishing guidance information based on the identification results.

[0045] Among them, the upper camera module 71 is mainly used to acquire the overall outline, planar position and regional distribution information of the workpiece, and the side camera module 521 is mainly used to acquire the outline of the side wall of the workpiece, the deformation information in the height direction and the local three-dimensional features of the burr area; the image processing system performs fusion analysis on multi-angle images, and identifies burrs, flash, protrusion residues or areas to be repaired on the surface of the workpiece through edge extraction, contour fitting, gray-scale feature analysis, region segmentation and defect recognition, thereby determining the corresponding range of areas to be polished.

[0046] Furthermore, the image processing system includes an image acquisition unit, an image preprocessing unit, a feature extraction unit, a defect recognition unit, a path planning unit, and a coordinate transformation unit; wherein: The image acquisition unit is used to receive image data acquired by the upper camera module 71 and the side camera module 521; The image preprocessing unit is used to perform grayscale conversion, filtering and noise reduction, contrast enhancement, and edge enhancement processing; The feature extraction unit is used to extract workpiece contour features, edge features, corner features, and surface texture features; The defect identification unit is used to identify burr areas, flash areas, or abnormal protrusion areas, and output the corresponding area coordinate information; The path planning unit is used to generate a grinding path based on the location and contour range of the area to be ground and the motion posture of the robotic arm 3. The coordinate transformation unit is used to convert the target position in the image coordinate system into motion coordinates in the execution coordinate system of the robotic arm 3.

[0047] Furthermore, when generating the grinding path, the path planning unit also establishes a safe avoidance area based on the workpiece's outer contour range, the robot arm 3's movement radius, the grinding tool's size, and the workpiece's height information. This ensures that the robot arm 3 maintains a preset safe distance from the non-grinding area during its movement, reducing the possibility of interference and collision between the robot arm 3, the grinding head, and the workpiece. Simultaneously, the path planning unit can also optimize the robot arm 3's movement posture, grinding angle, and path smoothness to improve grinding stability and continuity.

[0048] Furthermore, the image processing system can also be connected to a database or feature model library to call up standard contour parameters, burr judgment rules and preset grinding process parameters corresponding to different workpieces, so as to adapt to the automatic recognition and path generation needs of workpieces of different specifications.

[0049] The aforementioned image recognition, defect detection, path planning, coordinate transformation, and obstacle avoidance control of the robotic arm can all be implemented using existing mature technologies. Their specific implementation methods are not the focus of this application, so they will not be elaborated here.

[0050] Example 5 like Figure 10-13 As shown, the side illumination assembly 6 includes multiple side illumination units arranged in a ring array and fixed in position. Each side illumination unit includes a connecting frame 61, on which a side illumination lamp 62 with an arc-shaped structure is mounted, and the connecting frame 61 is fixed to the support assembly 4. All side-illuminators 62 are coaxially arranged, that is, all the curved side-illuminators 62 are located on the same circle and at the bottom of the side-scanning assembly 5.

[0051] Side-illuminator 62 is used to provide side illumination for the upper-scanning assembly 7 from the side.

[0052] As a preferred technical solution in this embodiment, it also includes an adjustment part for adjusting the elevation and depression angles of the side illumination lamp 62. The adjustment part moves synchronously with the side scanning component 5, and the moving adjustment part passes through the side illumination lamp 62, pushing the side illumination lamp 62 to rotate vertically, thereby adjusting the elevation and depression angles of the side illumination lamp 62.

[0053] The adjustment unit includes a transmission ring 65 coaxially arranged with the circular trajectory of the side scanning component 5. The transmission ring 65 rotates as the side scanning component 5 moves. The side illumination lamp 62 is rotatably connected to the connecting frame 61, and a coil spring is provided at the rotatable connection between the connecting frame 61 and the side illumination lamp 62. The two ends of the coil spring are respectively fixed to the connecting frame 61 and the side illumination lamp 62. Multiple wave-shaped transmission parts are provided on the top side wall of the transmission ring 65. The transmission parts are arranged in a ring array and the number is the same as that of the side illumination unit. One end of a fixed-length pulling part 66 is attached to the top side wall of the transmission ring 65, and the other end of the pulling part 66 is connected to the side illumination lamp 62.

[0054] The transmission unit moves synchronously circumferentially with the rotation of the transmission ring 65, and passes through the position of the pulling part 66 in sequence during the movement. Since the outer side of the transmission unit has a wave-shaped drive profile that changes continuously along the circumference, the height of the corresponding position changes when the transmission unit rotates to different positions, thereby forming a periodic pushing or releasing action on the pulling part 66, causing the pulling part 66 to produce reciprocating lifting and lowering motion in the vertical direction.

[0055] During its vertical movement, the pulling part 66 further drives the side-illuminator 62 to swing at an angle, enabling the side-illuminator 62 to switch its illumination posture between the elevation and depression directions, thus achieving dynamic adjustment of the illumination angle of the side-illuminator 62. This linkage structure eliminates the need for an additional independent drive motor to achieve continuous changes in the illumination direction of the side-illuminator 62, thereby reducing the overall structural complexity and improving the synchronization and stability of the lighting adjustment process.

[0056] Furthermore, as the illumination angle of the side-illuminator 62 continues to change, the upper scanning component 7 can acquire image information of the workpiece under different incident light angles. Since light at different angles will form different brightness and darkness distributions, shadow boundaries and contour contrasts on the workpiece surface, it can more fully display the feature information of the workpiece surface such as burrs, flash, contour undulations, local concavities and convexities and deformation areas.

[0057] Especially for metal castings with reflective surfaces, uneven roughness, or complex curved structures, changing the elevation and depression angles of the side-illuminator 62 can reduce localized highlights, shadows, and edge defects caused by fixed-angle lighting, thereby improving image edge recognition accuracy and defect area identification stability. Simultaneously, image information acquired from different angles can complement each other, facilitating multi-angle fusion analysis of workpiece surface features by the image processing system, improving the accuracy of burr area identification and the reliability of subsequent grinding path generation.

[0058] In addition, by driving the side lamp 62 to oscillate periodically through the wave-shaped transmission part, the illumination light can form a dynamic sweeping effect, thereby enhancing the degree of brightness and darkness variation of the workpiece surface's small protrusions, edge burrs and distorted areas, making some subtle features that are not easily identified under fixed lighting conditions more obvious, and further improving the upper scanning component 7's ability to acquire complex workpiece surface features.

[0059] Furthermore, multiple transmission sliders 63 arranged in a ring array are fixed on the outer ring sidewall of the transmission ring 65. The transmission sliders 63 are slidably connected to the ring-shaped second guide rail 64, and the second guide rail 64 is fixed to the bearing assembly 4 by a rod. The transmission ring 65 or one of the transmission sliders 63 is fixed to the side scanning assembly 5 via the synchronizing rod 631.

[0060] When the carrying slider 51 moves, it drives the transmission slider 63 and the transmission ring 65 to slide on the second guide rail 64 through the synchronizing rod 631, thereby realizing the self-movement of the transmission ring 65.

[0061] Specifically, the transmission ring 65 or one of the transmission sliders 63 is fixed to the bottom side wall of the bearing slider 51 by the synchronizing rod 631. The second guide rail 64 is coaxially arranged with the transmission ring 65 and is fixed to the bearing plate 41 by the rod.

[0062] like Figure 14 and 15 As shown, the transmission part includes a protruding end 653 and a recessed end 652 continuously provided on the top side wall of the transmission ring 65. The top side wall of the transmission ring 65 between two adjacent transmission parts is a flat end 651. Under the action of the coil spring, the top of the pulling part 66 always overlaps the flat end 651, the protruding end 653 and the recessed end 652.

[0063] The flat end 651, the raised end 653, and the recessed end 652 are smoothly connected to each other.

[0064] Specifically, the pulling part 66 includes a transmission roller 661 mounted on an "L"-shaped connecting rod 662. The transmission roller 661 is radially distributed along the transmission ring 65 and overlaps the top side wall of the transmission ring 65. It can rotate on the top side wall of the transmission ring 65. The transmission roller 661 is mounted in the transverse region at the top of the connecting rod 662. The bottom end of the vertical region of the connecting rod 662 is rotatably connected to the limiting slider 663. The limiting slider 663 is slidably connected to the surface of the limiting guide rail 664. The limiting guide rail 664 is fixed to the side illumination lamp 62 radially along the transmission ring 65.

[0065] When the drive ring 65 moves, and the drive roller 661 is located at the planar end 651, the side-illuminating lamp 62 illuminates the workpiece surface in the horizontal direction.

[0066] When the drive roller 661 is located at the raised end 653, the connecting rod 662 drives the side lamp 62 to rotate upward; when the drive roller 661 is located at the recessed end 652, the connecting rod 662 drives the side lamp 62 to rotate downward.

[0067] During the above process, the coil spring is constantly deformed.

[0068] The side-illuminator 62 and the transmission unit are preferably four. The side-illuminator 62 and the transmission unit are of the same number and are arranged in a circular array. They can correspond one-to-one, and the elevation angle and depression angle of the four side-illuminator 62 can be adjusted synchronously through the four transmission units.

[0069] This invention is not limited to the embodiments described above. Any changes in shape or structure shall fall within the protection scope of this invention. The protection scope of this invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of this invention, but all such changes and modifications shall fall within the protection scope of this invention.

Claims

1. A safety distance detection device for robots, comprising a worktable (1), characterized in that: An upper scanning assembly (7) for scanning and detecting workpieces from the top is provided at the center of the upper part of the worktable (1). A side scanning component (5) for workpiece side inspection is mounted on a carrier component (4), which is mounted on a support component (2). The side scanning component (5) can move around the periphery of the workpiece on the carrier component (4), and the side scanning component (5) and the carrier component (4) move up and down on the support component (2) in a vertical direction. It also includes a side illumination component (6) disposed on the carrier component (4), the side illumination component (6) providing side light at different heights to the upper scanning component (7); A polishing robot, the polishing robot including a mechanical arm (3), the mechanical arm (3) is installed on one side of the workbench (1), and a self-rotating polishing part (31) is installed on the end of the mechanical arm (3). The side illumination assembly (6) includes multiple side illumination units arranged in a ring array and fixed in position. Each side illumination unit includes a connecting frame (61), on which a side illumination lamp (62) with an arc-shaped structure is installed. The connecting frame (61) is fixed on the supporting assembly (4). All side-illuminators (62) are coaxially mounted and located at the bottom of the side-scan assembly (5); It also includes an adjustment part for adjusting the elevation and depression angles of the side illumination lamp (62), the adjustment part moving synchronously with the side scanning assembly (5), and the moving adjustment part passing through the side illumination lamp (62) to push the side illumination lamp (62) to rotate vertically; The adjustment unit includes a transmission ring (65) coaxially arranged with the circular trajectory of the side scanning component (5) moving. The transmission ring (65) rotates as the side scanning component (5) moves. The side illumination lamp (62) is rotatably connected to the connecting frame (61), and a coil spring is provided at the rotatable connection between the connecting frame (61) and the side illumination lamp (62). The top sidewall of the transmission ring (65) is provided with multiple wave-shaped transmission parts, which are arranged in a ring array and the number is the same as that of the side illumination unit. One end of a fixed-length pulling part (66) is attached to the top sidewall of the transmission ring (65), and the other end of the pulling part (66) is connected to the side illumination lamp (62).

2. The safety distance detection device for robots as described in claim 1, characterized in that: The support assembly (2) includes two symmetrically arranged support units, on which lifting plates (23) are installed, and the bearing assembly (4) is installed on the two lifting plates (23).

3. The safety distance detection device for robots as described in claim 2, characterized in that: The support unit includes two symmetrically arranged support rods (21), the tops of the two support rods (21) are fixed to the mounting plate (22), and a screw (25) is provided between the two support rods (21). The bottom of the screw (25) is installed on the worktable (1) and can rotate on the worktable (1). The top of the mounting plate (22) is fixed with a first motor (24), and the output end of the bottom of the first motor (24) passes through the mounting plate (22) and is fixed to the top of the screw (25); A threaded sleeve (231) is fixed at the center of the lifting plate (23), and guide sleeves (232) are fixed on both sides of the threaded sleeve (231). The threaded sleeve (231) is sleeved on the screw (25), and the two guide sleeves (232) are slidably sleeved on the two support rods (21).

4. The safety distance detection device for robots as described in claim 2, characterized in that: The support component (4) includes a support plate (41) with an annular structure. A first guide rail (43) with an annular structure and an annular transmission rack (42) that is connected to the side scanning component (5) are fixed on the support plate (41). The support plate (41), the first guide rail (43) and the transmission rack (42) are all concentrically arranged. The support plate (41) is fixed on the two lifting plates (23).

5. The safe distance detection device for robots as described in claim 1, characterized in that: The side scanning component (5) includes a carrier slider (51), which is slidably connected to the carrier component (4). A mounting bracket (53) is fixed on the top of the carrier slider (51), and a second motor (54) is fixed on the mounting bracket (53). The second motor (54) is connected to the walking gear (58) through a transmission part. The walking gear (58) is connected to the carrier component (4). A side camera (52) is fixed on the outer wall of the bearing slider (51) near the center of the worktable (1).

6. The safety distance detection device for robots as described in claim 1, characterized in that: Multiple transmission sliders (63) arranged in a ring array are fixed on the outer ring sidewall of the transmission ring (65). The transmission sliders (63) are slidably connected to the ring-shaped second guide rail (64). The second guide rail (64) is fixed to the bearing assembly (4) by a rod. The transmission ring (65) or one of the transmission sliders (63) is fixed to the side scanning assembly (5) by a synchronizing rod (631).

7. The safe distance detection device for robots as described in claim 1, characterized in that: The transmission part includes a protruding end (653) and a recessed end (652) continuously provided on the top side wall of the transmission ring (65). The top side wall of the transmission ring (65) between two adjacent transmission parts is a flat end (651). Under the action of the coil spring, the top of the pulling part (66) always overlaps the flat end (651), the protruding end (653) and the recessed end (652).

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