Robotic automated inspection apparatus

Abstract

The application relates to the technical field of oil tank detection equipment, and discloses a robot automatic detection equipment, which comprises a robot, a detection device arranged at the movable end of the robot, a conveying platform slidingly arranged on a conveying frame, a roller conveying structure and a lifting mechanism arranged on the conveying platform, the roller conveying structure comprising a plurality of first rollers, the lifting mechanism being fixedly connected with a die tool at the top, the die tool having a first state with the top being higher than the upper surface of the first roller, a conveying driving structure connected with the conveying platform, and an output structure arranged at the discharging side of the conveying frame. The robot automatic detection equipment provided by the application can move the oil tank to the detection area through the conveying platform, position the oil tank through the die tool, and detect the parts dispersedly arranged at multiple positions through the detection device driven by the robot, so that the labor intensity of the workers is reduced, the detection efficiency is improved, and the possibility of missed detection and misjudgment caused by human factors is reduced.

Description

Technical Field

[0001] This invention relates to the field of fuel tank inspection equipment technology, and more specifically to a robotic automated inspection device. Background Technology

[0002] The fuel tank is a crucial component of a car. It typically consists of a tank shell and components such as hoses, connectors, and shock absorbers mounted on it. Before packaging and shipping the fuel tank after assembly, it's essential to inspect these components for proper installation and to ensure they are not missing. Failure to properly inspect these components before shipment can result in defective fuel tanks, negatively impacting user experience. Currently, manual and visual inspection is commonly used. However, due to the numerous and relatively dispersed components on the fuel tank shell, this method increases the workload for workers, and prolonged operation can easily lead to oversights and misjudgments. Summary of the Invention

[0003] In view of this, the present invention provides a robotic automated inspection device to solve the problems that manual and visual inspection methods increase the workload of workers and that workers are prone to missed inspections and misjudgments during long working hours.

[0004] This invention provides an automated robotic inspection device, comprising:

[0005] The robot has a support frame at its moving end, and a detection device is installed on the support frame;

[0006] A conveyor belt is positioned on one side of the robot;

[0007] A conveying platform is slidably mounted on a conveying frame and has a detection station corresponding to the detection area of ​​the detection device. The conveying platform is equipped with a roller conveying structure and a lifting mechanism. The roller conveying structure includes multiple spaced first rollers. The lifting mechanism is located below the first rollers. A template fixture is fixedly connected to the top of the lifting mechanism to facilitate driving the template fixture to rise and fall. The top of the template fixture has a first state where it passes through the gap between the first rollers and is higher than the upper surface of the first rollers, and a second state where it is lower than the upper surface of the first rollers or flush with the upper surface of the first rollers. The template fixture is used to position the oil tank to be detected.

[0008] A conveyor drive structure, connected to the conveyor platform, is used to drive the conveyor platform to move along the conveyor frame to the inspection station;

[0009] The output structure is located on the discharge side of the conveyor frame and is suitable for connection with the roller conveyor structure to receive the oil tank after the inspection is completed.

[0010] In one optional embodiment, a locking structure is provided on the side of the conveyor frame corresponding to the detection station. The locking structure includes a rotating shaft rotatably connected to the conveyor frame, a locking rod fixedly connected to the rotating shaft, a slot provided on the side of the conveyor platform, and the locking rod is adapted to rotate around the axis of the rotating shaft. The locking rod has a third state of engaging with the slot and a fourth state of disengaging from the slot.

[0011] In one optional embodiment, the lifting mechanism includes a lifting driver fixedly connected to the conveying platform, and a lifting mounting plate disposed between the conveying platform and the first roller shaft. The output end of the lifting driver is fixedly connected to the lifting mounting plate, the lifting mounting plate is fixedly connected to a plurality of vertical rods, the vertical rods pass through the conveying platform and slide therewith, and a template fixture is fixedly connected to the upper end face of the lifting mounting plate.

[0012] In one optional embodiment, the template tooling includes a contour template adapted to the outer contour of the oil tank, and a tooling connecting plate fixedly connected to the lifting mounting plate. The bottom of the contour template is provided with a waist-shaped hole, and a bolt is provided in the waist-shaped hole for connection with the threaded hole of the tooling connecting plate.

[0013] In one optional embodiment, the detection device includes a first magnetic cylinder fixedly disposed within a support frame. The output end of the first magnetic cylinder extends out of the support frame and is connected to a detection rod. The detection rod is adapted to contact and abut against a shock-absorbing pad, a bracket, or a pipeline. A first magnetic switch is disposed on the body of the first magnetic cylinder.

[0014] In one optional embodiment, the output end of the first magnetic cylinder is fixedly connected to a first guide post, the first guide post is slidably connected to the support frame, and the axis of the first guide post is parallel to the extension and retraction direction of the detection rod.

[0015] In one optional embodiment, a second magnetic cylinder is provided inside the support frame. The output end of the second magnetic cylinder extends out of the support frame and is connected to a pulling fixture, which is suitable for pulling the plug by means of the pulling fixture. A second magnetic switch is provided on the body of the second magnetic cylinder, which is suitable for detecting the movement distance of the piston inside the second magnetic cylinder.

[0016] In one optional embodiment, the pulling fixture is fixedly connected to a second guide post, the second guide post is slidably connected to the support frame, and the axis of the second guide post is parallel to the pulling direction of the pulling fixture.

[0017] In one alternative embodiment, a tension sensor is provided between the output end of the second magnetic cylinder and the drawing fixture, the tension sensor being used to detect the drawing force of the drawing fixture.

[0018] In one optional embodiment, a vision inspection module is fixedly connected to the support frame. The vision inspection module is used to inspect the oil pump port pin and to take pictures of the oil pump port pin and the oil tank as a whole.

[0019] The technical solution of this invention has the following advantages:

[0020] 1. The robotic automated inspection equipment provided by the present invention moves the oil tank to the inspection area through a conveyor platform and positions and fixes the oil tank through a template fixture, which facilitates the subsequent inspection of parts scattered at multiple points by a robot-driven inspection device. This helps to reduce the workload of workers, improve inspection efficiency, and reduce the possibility of missed inspections and misjudgments caused by human factors.

[0021] 2. In the robotic automated inspection equipment provided by the present invention, after the conveyor platform drives the oil tank to the inspection area, the locking rod turns into the third state and locks the slot, fixing the position of the conveyor platform, thereby preventing the conveyor platform from moving during the inspection process and thus avoiding affecting the normal inspection of the inspection device.

[0022] 3. The robotic automated inspection equipment provided by the present invention improves the stability of the movement of the inspection rod by setting a first guide post, thereby preventing the inspection rod from shaking or deviating and affecting the inspection results.

[0023] 4. The robotic automated inspection equipment provided by the present invention improves the stability of the pulling fixture relative to the support frame during the pulling process by setting a second guide column, thereby preventing the pulling fixture from shifting or shaking. Attached Figure Description

[0024] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0025] Figure 1 This is a front view of a robotic automated inspection device according to an embodiment of the present invention;

[0026] Figure 2 for Figure 1 A magnified view of part A in the diagram;

[0027] Figure 3 for Figure 1 The diagram shown is a structural schematic of the robotic automated inspection equipment.

[0028] Figure 4 for Figure 3 A magnified view of part B in the diagram;

[0029] Figure 5 for Figure 4 A magnified view of part of F;

[0030] Figure 6 for Figure 3 A partial structural diagram of the robotic automated inspection equipment shown.

[0031] Figure 7 for Figure 6 A schematic diagram of the hidden roller conveyor structure of the robotic automated inspection equipment shown.

[0032] Figure 8 for Figure 7 A magnified view of part of C;

[0033] Figure 9 for Figure 8 The diagram shows the locking mechanism and the locking state of the slot.

[0034] Figure 10 for Figure 7 A magnified view of part of D;

[0035] Figure 11 for Figure 7 A magnified view of part of E in the diagram;

[0036] Explanation of reference numerals in the attached figures:

[0037] 1. Robot; 2. Support frame; 30. Vision inspection module; 31. First magnetic cylinder; 32. Detection rod; 33. First magnetic switch; 34. First guide post; 35. Second magnetic cylinder; 36. Pulling fixture; 37. Second magnetic switch; 38. Tension sensor; 39. Second guide post; 4. Conveyor frame; 41. Sliding guide rail; 5. Conveyor platform; 51. Slot; 52. Slider; 6. Roller conveyor structure; 61. First roller; 62. First support frame; 63. Mounting base; 71. Lifting mechanism; 711. Lifting driver; 712. Lifting mounting plate; 713. Vertical rod; 72. Template fixture; 721. Fixture connection 722. Plate; 8. Copying template; 9. Oil tank; 10. Transmission drive structure; 11. Drive motor; 12. Transmission belt; 13. Synchronous pulley; 14. Tensioning structure; 15. Fixed bracket; 16. Limiting groove; 17. Adjusting threaded hole; 18. Support rod; 19. Output structure; 10. Second support frame; 10. Second roller; 11. Second motor; 12. Locking structure; 13. Rotating shaft; 14. Locking rod; 15. Rotation drive device; 16. Fence; 17. First photoelectric sensor; 18. First connecting block; 19. Notch; 10. Threaded hole; 10. Light hole; 11. Second photoelectric sensor. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, 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.

[0039] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0040] The following is combined Figures 1 to 11 The following describes embodiments of the present invention.

[0041] According to an embodiment of the present invention, a robotic automated inspection device is provided, comprising:

[0042] Robot 1, with a support frame 2 at its movable end, and a detection device on the support frame 2;

[0043] Conveyor 4 is located on one side of robot 1;

[0044] The conveying platform 5 is slidably mounted on the conveying frame 4 and has a detection station corresponding to the detection area of ​​the detection device. The conveying platform 5 is equipped with a roller conveying structure 6 and a lifting mechanism 71. The roller conveying structure 6 includes a plurality of spaced first rollers 61. The lifting mechanism 71 is located below the first rollers 61. A template fixture 72 is fixedly connected to the top of the lifting mechanism 71 to facilitate driving the template fixture 72 to rise and fall. The top of the template fixture 72 has a first state where it passes through the gap between the first rollers 61 and is higher than the upper surface of the first rollers 61, and a second state where it is lower than the upper surface of the first rollers 61 or flush with the upper surface of the first rollers 61. The template fixture 72 is used to position the oil tank 8 to be detected.

[0045] The conveying drive structure 9 is connected to the conveying platform 5 and is used to drive the conveying platform 5 to move along the conveying frame 4 to the inspection station.

[0046] The output structure 10 is located on the discharge side of the conveyor frame 4 and is adapted to connect with the roller conveyor structure 6 to receive the oil tank 8 after the test is completed.

[0047] The robotic automated inspection equipment provided in this embodiment moves the oil tank 8 to the inspection area through the conveyor platform 5, and positions and fixes the oil tank 8 through the template fixture 72. This facilitates the subsequent inspection of the parts scattered at multiple locations by the robot 1 driving the inspection device. This helps to reduce the workload of the staff, improve the inspection efficiency, and reduce the possibility of missed inspections and misjudgments caused by human factors.

[0048] Specifically, robot 1 is a six-axis industrial robot, such as the KR R1610 six-axis industrial robot from KUKA. The moving end of robot 1, i.e., the end effector, is fixedly connected to a support frame 2. The support frame 2 has a rectangular frame structure, which helps ensure structural strength and reduce the load on the moving end of robot 1. A detection device is installed on the support frame 2. Robot 1 drives the detection device to move to multiple preset detection points to inspect the shock-absorbing pads, supports, pipes, plugs, and other components dispersed on the oil tank 8. The automated robot inspection equipment also includes an electrical control cabinet and a display screen, used to control robot 1, the detection device, the transmission drive structure 9, the output structure 10, and the photoelectric sensors and rotation drive device 113 described below. The electrical control cabinet contains a PLC controller, power module, and communication module, and the display screen is used for human-machine interaction. It should be noted that the electrical control cabinet, as an important component of industrial automation systems, is widely used in industrial automation and is a conventional technical means; therefore, it will not be elaborated upon here.

[0049] The conveyor frame 4 is horizontally arranged and is made of aluminum profile splicing. A sliding guide rail 41 is horizontally arranged on its upper part. Two sliding guide rails 41 are arranged in parallel. A slider 52 matching the sliding guide rail 41 is arranged at the bottom of the conveyor platform 5 so as to make the conveyor platform 5 move smoothly along the conveyor frame 4.

[0050] The roller conveying structure 6 includes a first support frame 62 arranged laterally, and a plurality of first rollers 61 rotatably connected to the first support frame 62. The plurality of first rollers 61 are arranged along the moving direction of the conveying platform 5, wherein at least one first roller 61 is configured as an active roller and is drivenly connected to a first motor for driving the oil tank 8 to move from the roller conveying structure 6 to the output structure 10. The first support frame 62 and the conveying platform 5 are fixedly connected by mounting seats 63. A plurality of mounting seats 63 are fixedly connected between the first support frame 62 and the conveying platform 5, and the mounting seats 63 are used to support and fix the first support frame 62. The mounting seat 63 includes a top plate and a bottom plate arranged at intervals, the top plate being larger than the bottom plate. The bottom plate is fixedly connected to the conveying platform 5, and the top plate is fixedly connected to the first support frame 62. Two side plates arranged at intervals are fixedly connected between the top plate and the bottom plate. A back plate fixedly connected to the bottom plate and the top plate is fixedly connected between the two side plates. A triangular reinforcing plate is fixedly connected between each side plate and the top plate.

[0051] The automated robotic inspection equipment also includes a fence 12. The robot 1 is positioned inside the fence 12, and one end of the conveyor frame 4 extends into the fence 12 and is close to its edge. The fence 12 forms a work area to serve as a warning during the inspection process and prevent workers from accidentally entering. The end of the conveyor frame 4 inside the fence 12 is defined as the output end, and the end outside the fence 12 is defined as the input end. Workers place the oil tank 8 to be inspected at the input end.

[0052] The input end of the conveyor frame 4 is located outside the fence 12. The lifting mechanism 71 is fixedly connected to the conveyor platform 5 and is located below the first roller 61. In the initial state, the conveyor platform 5 moves to the input end, and the template fixture 72 is in the second state. The operator places the oil tank 8 on the roller conveyor structure 6 and aligns the position of the oil tank 8 with the template fixture 72 below. The lifting mechanism 71 drives the template fixture 72 to rise. The first roller 61 leaves a sufficient gap with the template fixture 72 so that the top of the template fixture 72 passes through the gap between the first rollers 61 from bottom to top and gradually rises above the upper surface of the first roller 61 until it fits the contour of the oil tank 8. The tooling operator manually corrects the position of the oil tank 8 to ensure smooth fitting and positioning.

[0053] Two first photoelectric sensors 13 are fixedly connected to the roller conveyor structure 6, and the two first photoelectric sensors 13 are set on the same side of the oil tank 8. Along the moving direction of the conveyor platform 5, the two first photoelectric sensors 13 are respectively set at both ends of the oil tank 8 to detect whether the oil tank 8 exists. The first photoelectric sensors 13 are electrically connected to the electrical controller cabinet, and the electrical controller cabinet is electrically connected to two start buttons. When the operator presses the two start buttons with both hands at the same time, and the two first photoelectric sensors 13 detect that the oil tank is in place, the conveyor drive structure 9 can be started, driving the conveyor platform 5 to move on the conveyor frame 4 to the preset detection position.

[0054] The conveying drive structure 9 includes a drive motor 91 and synchronous pulleys 93 respectively disposed at both ends of the conveyor frame 4. A transmission belt 92 is wound around the two synchronous pulleys 93 and is fixedly connected to the conveyor platform 5, driving the conveyor platform 5 to reciprocate along the conveyor frame 4. The drive motor 91 is connected to one of the synchronous pulleys 93 via a reducer; this synchronous pulley 93 acts as the driving pulley to drive the transmission belt 92. The other synchronous pulley 93, acting as the driven pulley, is connected to the conveyor frame 4 via a tensioning structure 94. The tensioning structure 94 includes a fixed bracket 941 fixedly connected to the conveyor frame 4. Two symmetrically arranged limiting grooves 942 are provided on the fixed bracket 941. The length direction of the limiting grooves 942 is parallel to the moving direction of the conveyor platform 5. A support rod 944 is arranged within the limiting groove 942, and the axis of the support rod 944 is perpendicular to the moving direction of the conveyor platform 5. A synchronous pulley 93, serving as the driven wheel, is rotatably mounted on the support rod 944. The support rod 944 supports the rotation of the synchronous pulley 93. Both ends of the support rod 944 are slidably arranged within the limiting grooves 942. An adjusting threaded hole 943 is provided at the end of the fixed bracket 941 corresponding to the limiting groove 942. The adjusting threaded hole 943 is located on the side of the support rod 944 facing the synchronous pulley 93, which serves as the driving wheel. An adjusting bolt is threaded into the adjusting threaded hole 943, and the end of the adjusting bolt abuts against the support rod 944. By rotating the adjusting bolt, the distance between the two synchronous pulleys 93 can be adjusted, thereby adjusting the tension of the transmission belt 92.

[0055] The output structure 10 is located outside the enclosure 12 and near the output end of the conveyor frame 4. When the conveyor platform 5 moves to the output end of the conveyor frame 4, the roller conveyor structure 6 connects with the output structure 10. After the inspection is completed, the lifting mechanism 71 drives the template fixture 72 to fall, so that the oil tank 8 falls on the first roller 61, so that it can be conveyed to the output structure 10 by the roller conveyor structure 6 and removed by the conveyor structure 10 for subsequent processing. The output structure 10 includes a second support frame 101 arranged laterally. A plurality of second rollers 102 are rotatably connected to the second support frame 101. The plurality of second rollers 102 are arranged along the moving direction of the conveyor platform 5. A second motor 103 is provided on the second support frame 101. At least one second roller 102 is drivenly connected to the second motor 103 to act as an active roller to drive the oil tank 8 away from the roller conveyor structure 6.

[0056] In one embodiment, combined Figure 2 , Figures 7 to 9As shown, a locking structure 11 is provided on the side of the conveyor frame 4 corresponding to the detection station. The locking structure 11 includes a rotating shaft 111 rotatably connected to the conveyor frame 4. A locking rod 112 is fixedly connected to the rotating shaft 111. A slot 51 is provided on the side of the conveyor platform 5. The locking rod 112 is adapted to rotate around the axis of the rotating shaft 111. The locking rod 112 has a third state of engaging with the slot 51 and a fourth state of disengaging from the slot 51.

[0057] In the robotic automated inspection equipment provided in this embodiment, after the conveyor platform 5 drives the oil tank 8 to the inspection area, the locking rod 112 rotates into the third state to lock the slot 51, fixing the position of the conveyor platform 5, thereby preventing the conveyor platform 5 from moving during the inspection process, and thus avoiding affecting the normal inspection of the inspection device.

[0058] Specifically, the axial direction of the rotating shaft 111 is parallel to the moving direction of the conveying platform 5, and the axis of the locking rod 112 is perpendicular to the axis of the rotating shaft 111. One end of the locking rod 112 is fixedly connected to the rotating shaft 111, and the other end is adapted to engage with the slot 51. The other end of the locking rod 112 is cylindrical, and the opening of the slot 51 is outwardly flared to serve as a guide. When the conveying platform 5 moves to the inspection station, the locking rod 112 enters the third state and engages with the slot 51 to form a limit in the moving direction of the conveying platform 5, preventing the conveying platform 5 from deviating during the inspection process, which helps to improve the stability and accuracy of the inspection. When the conveying platform 5 is at the inspection station, the roller conveying structure 6 is connected to the output structure 10. After the oil tank 8 is inspected, the lifting mechanism 71 drives the template fixture 72 to descend, causing the template fixture 72 to release its positioning of the oil tank 8, and the roller conveying structure 6 conveys the oil tank 8 on it to the output structure 10.

[0059] Furthermore, the locking structure 11 also includes a rotation drive device 113, which is connected to the rotation shaft 111 for driving the rotation shaft 111 to rotate around its own axis. Figure 9 As shown, the rotary drive device 113 can be a linear drive device that drives the rotating shaft 111 to rotate via a connecting rod, such as an electric push rod, hydraulic cylinder, or pneumatic cylinder. The body of the linear drive device is hinged to the transmission frame 4, with the hinge axis parallel to the axis of the rotating shaft 111. The telescopic end of the linear drive device is hinged to one end of the connecting rod, and the other end of the connecting rod is fixedly connected to the rotating shaft 111, thereby driving the rotating shaft 111 to rotate around its own axis through the extension and retraction of the telescopic end. Alternatively, the rotary drive device 113 can also be a rotary drive device that drives the rotating shaft 111 to rotate via a transmission structure, such as an electric motor, hydraulic motor, or pneumatic motor. Its rotation output end is connected to the rotating shaft 111 via a gear transmission structure, worm gear transmission structure, or chain transmission structure, thereby driving the rotating shaft 111 to rotate around its own axis.

[0060] Two second photoelectric sensors 15 are arranged on the same side of the output structure 10 corresponding to the oil tank 8. Along the conveying direction of the output structure 10, the two second photoelectric sensors 15 are respectively arranged at both ends of the oil tank 8. When both second photoelectric sensors 15 detect the oil tank 8, the rotation drive device 113 drives the locking rod 112 to enter the fourth state and disengage from the slot 51, releasing the limit of the conveying platform 5, so that it can move to the input end of the conveyor frame 4 under the drive of the conveying drive structure 9.

[0061] In one embodiment, combined Figure 2 , Figure 7 and Figure 11 As shown, the lifting mechanism 71 includes a lifting driver 711 fixedly connected to the conveying platform 5, and a lifting mounting plate 712 disposed between the conveying platform 5 and the first roller shaft 61. The output end of the lifting driver 711 is fixedly connected to the lifting mounting plate 712. The lifting mounting plate 712 is fixedly connected to a plurality of vertical rods 713. The vertical rods 713 pass through the conveying platform 5 and slide with it. The template fixture 72 is fixedly connected to the upper end face of the lifting mounting plate 712.

[0062] Specifically, the lifting drive 711 includes a cylinder, a hydraulic cylinder, or an electric push rod for driving the lifting mounting plate 712 to move up and down. Multiple vertical rods 713 are arranged parallel and spaced apart below the lifting mounting plate 712 and slide in contact with the conveying platform 5 via linear bearings, thereby improving the lifting stability of the lifting mounting plate 712.

[0063] In one embodiment, combined Figure 11 As shown, the template tooling 72 includes a contour template 722 adapted to the outer contour of the oil tank 8, and a tooling connecting plate 721 fixedly connected to the lifting mounting plate 712. The bottom of the contour template 722 is provided with a waist-shaped hole, and a bolt is provided in the waist-shaped hole for connecting with the threaded hole of the tooling connecting plate 721.

[0064] Specifically, the length direction of the oblong hole at the bottom of the contour template 722 is perpendicular to the moving direction of the conveyor platform 5. The position of the contour template 722 is adjusted by bolts engaging with the oblong hole to accommodate oil tanks 8 of different widths and different positioning requirements. The upper part of the contour template 722 passes through the gap between the first rollers 61. The contour template 722 can be a single, integral piece or composed of multiple separate sub-templates.

[0065] Furthermore, the tooling connecting plate 721 also has a waist-shaped hole, in which a bolt is installed for connection with the threaded hole of the lifting mounting plate 712. The length direction of the waist-shaped hole on the tooling connecting plate 721 is parallel to the moving direction of the conveying platform 5.

[0066] In one embodiment, combined Figure 4As shown, the detection device includes a first magnetic cylinder 31 fixedly installed in the support frame 2. The output end of the first magnetic cylinder 31 extends out of the support frame 2 and is connected to a detection rod 32. The detection rod 32 is adapted to contact and abut against a shock-absorbing pad, bracket or pipeline. A first magnetic switch 33 is provided on the body of the first magnetic cylinder 31.

[0067] Specifically, the detection rod 32 is straight, with its end furthest from the first magnetic cylinder 31 rounded to prevent sharp ends from scratching components on the oil tank 8. A permanent magnet is mounted on the piston of the first magnetic cylinder 31, with the piston rod extended. A first magnetic switch 33, which cooperates with the permanent magnet, is located outside the cylinder body. The first magnetic switch 33 is electrically connected to the electrical control cabinet and is used to detect whether the piston's movement distance has reached a preset return distance. Under the action command of the electrical control cabinet, the movable end of robot 1 drives the support frame 2 to move, making the detection rod 32 vertically positioned. It then moves the detection rod 32 above the shock-absorbing pad, bracket, and pipeline, respectively. Next, it pushes the detection rod 32 down to touch the component being tested. The piston returns under the reaction force. When the piston reaches the preset return distance, the first magnetic switch 33 detects the magnetic signal of the permanent magnet and transmits a signal to the electrical control cabinet. Upon receiving the signal from the first magnetic switch 33, the electrical control cabinet determines that the component being tested is not missing. If the component is missing, the piston cannot return or the return distance is insufficient, and the electrical control cabinet will not receive the signal from the first magnetic switch 33, thus issuing an alarm signal, such as an audible and visual alarm. The downward pressure distance of the detection rod 32 driven by robot 1 is preset and matched with the preset return distance. This avoids the first magnetic switch 33 not being triggered due to a short downward pressure distance, and also avoids damage to the component during testing due to an excessively long downward pressure distance. Furthermore, it prevents the detection rod 32 from pressing down on other structural components in the event of a missing component.

[0068] As a feasible implementation, the intake air pressure of the first magnetic cylinder 31 is 0.25 MPa, the pressure is about 60 N to 70 N, and the preset return distance is 15 mm to 20 mm.

[0069] In one embodiment, combined Figure 4 As shown, the output end of the first magnetic cylinder 31 is fixedly connected to the first guide post 34, the first guide post 34 is slidably connected to the support frame 2, and the axis of the first guide post 34 is parallel to the extension and retraction direction of the detection rod 32.

[0070] The robotic automated inspection equipment provided in this embodiment improves the stability of the movement of the inspection rod 32 by setting a first guide post 34, thereby preventing the inspection rod 32 from shaking or deviating and affecting the inspection results.

[0071] Specifically, the length of the first guide post 34 ensures that, during the extension and retraction stroke of the detection rod 32 relative to the first magnetic cylinder 31, the first guide post 34 maintains a sliding fit with the support frame 2. The first guide post 34 is fixedly connected to the piston rod of the first magnetic cylinder 31 via the first connecting block 14. Figure 5 As shown, the first connecting block 14 has through holes corresponding to the piston rod and the first guide post 34, respectively. The first connecting block 14 has notches 141 corresponding to the two through holes, which communicate with them. Threaded holes 142 and smooth holes 143 are respectively opened on both sides of the notches 141. Bolts are adapted to pass through the smooth holes 143 and be threadedly connected to the threaded holes 142. By rotating the bolts, the size of the notches 141 can be adjusted by deforming the first connecting block 14, thereby changing the size of the through holes to accommodate piston rods or first guide posts 34 of different diameters.

[0072] In one embodiment, combined Figure 4 As shown, a second magnetic cylinder 35 is provided inside the support frame 2. The output end of the second magnetic cylinder 35 extends out of the support frame 2 and is connected to a pulling fixture 36, which is suitable for pulling the plug through the pulling fixture 36. A second magnetic switch 37 is provided on the body of the second magnetic cylinder 35, which is suitable for detecting the movement distance of the piston inside the second magnetic cylinder 35.

[0073] Specifically, the piston rod of the second magnetic cylinder 35 is in the retracted state, and the pulling fixture 36 is equipped with multiple insertion slots to accommodate different plug models. During the inspection process, the end effector of robot 1 drives the pulling fixture 36 to move via the support frame 2, so that the insertion slot corresponding to the plug to be inspected is engaged with the plug, and the plug is moved in the pulling direction to simulate the plug removal operation. The piston of the second magnetic cylinder 35 is equipped with a permanent magnet, and a second magnetic switch 37 is located outside the cylinder body. The second magnetic switch 37 is electrically connected to the electrical control cabinet. During the pulling process, if the plug is not loosely inserted, the piston of the second magnetic cylinder 35 is pulled out a certain distance under the reaction force. When the preset pulling distance is reached, the second magnetic switch 37 detects the permanent magnet signal and is triggered, sending a signal to the electrical control cabinet. At this time, the electrical control cabinet determines that the plug connection is normal. If the plug is not properly inserted, the pulling fixture 36 will directly pull the plug out. If the piston cannot be pulled out or does not reach the preset pull-out distance, the electrical control cabinet will not receive the trigger signal from the second magnetic switch 37, thus determining an abnormality and issuing an alarm. The distance by which the robot 1 pulls the pulling fixture 36 outward is preset and matched to the preset pull-out distance. This avoids the distance being too short, which would prevent the second magnetic switch 37 from triggering, and avoids the distance being too long, which would damage components, ensuring reliable detection.

[0074] As a feasible implementation, the intake air pressure of the second magnetic cylinder 35 is 0.25 MPa, the pressure is about 60 N to 70 N, and the preset pull-out distance is 15 mm to 20 mm.

[0075] In one embodiment, combined Figure 4 As shown, the drawing fixture 36 is fixedly connected to a second guide post 39, which is slidably connected to the support frame 2. The axis of the second guide post 39 is parallel to the drawing direction of the drawing fixture 36.

[0076] The robotic automated inspection equipment provided in this embodiment improves the movement stability of the pulling fixture 36 relative to the support frame 2 during the pulling process by setting a second guide post 39, thereby preventing the pulling fixture 36 from shifting or shaking.

[0077] Specifically, the drawing fixture 36 includes a drawing plate 361 and a second connecting block 362 fixedly connected thereto. At least one second guide post 39 is provided, and the second guide post 39 is fixedly connected to the second connecting block 362. An insertion slot is formed at the edge of the drawing plate 361. The length of the second guide post 39 ensures that it maintains a sliding fit with the support frame 2 throughout the extension and retraction stroke of the drawing fixture 36 relative to the second magnetic cylinder 35.

[0078] In one embodiment, combined Figure 4 As shown, a tension sensor 38 is provided between the output end of the second magnetic cylinder 35 and the pulling fixture 36. The tension sensor 38 is used to detect the pulling force of the pulling fixture 36.

[0079] Specifically, the tension sensor 38 is an S-type tension sensor. The tension sensor 38 is electrically connected to the electrical control cabinet and is used to detect pull-out force data.

[0080] In one embodiment, combined Figure 4 As shown, a vision inspection module 30 is fixedly connected to the support frame 2. The vision inspection module 30 is used to inspect the oil pump port pin and to take pictures of the oil pump port pin and the oil tank 8 as a whole.

[0081] Specifically, the vision inspection module 30 includes an industrial camera, a lens, and an image processing module. The vision inspection module 30 is electrically connected to the electrical control cabinet. The end effector of robot 1 moves the vision inspection module 30 via the support frame 2, aligning its lens with the oil pump port pin to acquire an image and compare it with pre-stored images. If the pin is bent or incorrectly positioned, the electrical control cabinet issues an alarm signal. Furthermore, the robot 1 moves the vision inspection module 30 to take a photograph of the oil pump port pin 85 and the oil tank 8 as a whole, which is then archived for subsequent quality traceability and problem troubleshooting.

[0082] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and all such modifications and variations fall within the scope defined by the present invention.

Claims

1. A robotic automated inspection device, characterized in that, include: The robot (1) has a support frame (2) at its movable end, and a detection device is provided on the support frame (2); A conveyor (4) is disposed on one side of the robot (1); A conveying platform (5) is slidably mounted on the conveying frame (4) and a detection station is provided corresponding to the detection area of ​​the detection device. The conveying platform (5) is provided with a roller conveying structure (6) and a lifting mechanism (71). The roller conveying structure (6) includes a plurality of spaced first rollers (61). The lifting mechanism (71) is located below the first rollers (61). A template fixture (72) is fixedly connected to the top of the lifting mechanism (71) to facilitate driving the template fixture (72) to lift. The top of the template fixture (72) has a first state where it passes through the gap between the first rollers (61) and is higher than the upper surface of the first rollers (61), and a second state where it is lower than the upper surface of the first rollers (61) or flush with the upper surface of the first rollers (61). The template fixture (72) is used to position the oil tank (8) to be detected. The conveying drive structure (9) is connected to the conveying platform (5) and is used to drive the conveying platform (5) to move along the conveying frame (4) to the detection station; The output structure (10) is located on the discharge side of the conveyor frame (4) and is adapted to connect with the roller conveyor structure (6) to receive the oil tank (8) after the test is completed.

2. The automated robotic inspection equipment according to claim 1, characterized in that, The side of the conveyor frame (4) is provided with a locking structure (11) corresponding to the detection station. The locking structure (11) includes a rotating shaft (111) rotatably connected to the conveyor frame (4). A locking rod (112) is fixedly connected to the rotating shaft (111). A slot (51) is provided on the side of the conveyor platform (5). The locking rod (112) is adapted to rotate around the axis of the rotating shaft (111). The locking rod (112) has a third state of engaging with the slot (51) and a fourth state of disengaging from the slot (51).

3. The automated robotic inspection equipment according to claim 1, characterized in that, The lifting mechanism (71) includes a lifting driver (711) fixedly connected to the conveying platform (5) and a lifting mounting plate (712) disposed between the conveying platform (5) and the first roller (61). The output end of the lifting driver (711) is fixedly connected to the lifting mounting plate (712). The lifting mounting plate (712) is fixedly connected to a plurality of vertical rods (713). The vertical rods (713) pass through the conveying platform (5) and slide with it. The template tooling (72) is fixedly connected to the upper end face of the lifting mounting plate (712).

4. The automated robotic inspection equipment according to claim 3, characterized in that, The template tooling (72) includes a contour template (722) adapted to the outer contour of the oil tank (8) and a tooling connecting plate (721) fixedly connected to the lifting mounting plate (712). The bottom of the contour template (722) is provided with a waist-shaped hole, and a bolt is provided in the waist-shaped hole for connecting with the threaded hole of the tooling connecting plate (721).

5. The automated robotic inspection equipment according to claim 1, characterized in that, The detection device includes a first magnetic cylinder (31) fixedly installed in the support frame (2). The output end of the first magnetic cylinder (31) extends out of the support frame (2) and is connected to a detection rod (32). The detection rod (32) is adapted to contact and abut against a shock-absorbing pad, bracket or pipeline. A first magnetic switch (33) is provided on the body of the first magnetic cylinder (31).

6. The automated robotic inspection equipment according to claim 5, characterized in that, The output end of the first magnetic cylinder (31) is fixedly connected to a first guide post (34), the first guide post (34) is slidably connected to the support frame (2), and the axis of the first guide post (34) is parallel to the extension and retraction direction of the detection rod (32).

7. The automated robotic inspection equipment according to claim 1, characterized in that, A second magnetic cylinder (35) is provided inside the support frame (2). The output end of the second magnetic cylinder (35) extends out of the support frame (2) and is connected to a pulling tool (36), which is suitable for pulling the plug through the pulling tool (36). A second magnetic switch (37) is provided on the body of the second magnetic cylinder (35), which is suitable for detecting the movement distance of the piston inside the second magnetic cylinder (35) through the second magnetic switch (37).

8. The automated robotic inspection equipment according to claim 7, characterized in that, The drawing tool (36) is fixedly connected to a second guide post (39), which is slidably connected to the support frame (2). The axis of the second guide post (39) is parallel to the drawing direction of the drawing tool (36).

9. The automated robotic inspection equipment according to claim 8, characterized in that, A tension sensor (38) is provided between the output end of the second magnetic cylinder (35) and the pulling fixture (36), and the tension sensor (38) is used to detect the pulling force of the pulling fixture (36).

10. The automated robotic inspection equipment according to claim 8, characterized in that, A vision inspection module (30) is fixedly connected to the support frame (2). The vision inspection module (30) is used to inspect the oil pump port pin and take pictures of the oil pump port pin and the oil tank (8) as a whole.

Images