A multi-axis inspection robot for nonwoven fabric processing

Abstract

This invention discloses a multi-axis inspection robot for nonwoven fabric processing, comprising a mobile platform and a four-axis robotic arm mounted on the top of the mobile platform; a fixed platform is mounted on one end of the four-axis robotic arm, and a power switching component is connected to the bottom of the fixed platform via a quick-connect structure; a transmission component and a linkage component are respectively connected to the bottom of the power switching component; a detection camera is movably mounted on the bottom of the transmission component, and the detection camera moves directionally along the transmission component; an illumination strip is movably mounted on the bottom of the linkage component, and the illumination strip extends by monitoring the movement of the camera and is adjusted by rotating the linkage component; in this invention, the installed detection camera and illumination strip are adjusted by the interaction of the movable adjustment structure through the action of the power switching component via the transmission component and the linkage component, thereby improving the flexibility of use and avoiding the limitations of integrated or fixed structures in use.

Description

Technical Field

[0001] This invention relates to the field of nonwoven fabric inspection technology, and in particular to a multi-axis inspection robot for nonwoven fabric processing. Background Technology

[0002] Machine vision-based nonwoven fabric surface defect detection equipment is an automated detection system that automatically identifies surface defects in nonwoven fabrics through optical imaging, image processing, and artificial intelligence algorithms. Its core value lies in replacing traditional manual visual inspection, achieving high-speed, high-precision, and non-contact detection, significantly improving the production quality and production line efficiency of nonwoven fabrics, and reducing labor costs and the risk of missed detection.

[0003] For example, patent CN120253861A, entitled "A Hot Air Nonwoven Fabric Detection Device for Nonwoven Fabric Production," with an authorization announcement date of 20250822, includes a detection box, correcting rollers, a straightening mechanism, a cleaning mechanism, and a detection plate. The detection box has an inlet and an outlet at both ends. There are two correcting rollers, both rotatably mounted inside the detection box. Two sets of straightening mechanisms are mounted on the corresponding correcting rollers and are used to tighten the nonwoven fabric vertically while simultaneously unfolding any wrinkles. The cleaning mechanism is located inside the detection box between the two correcting rollers and is used to clean impurities from both sides of the nonwoven fabric. The detection plate is located inside the detection box and has multiple cameras and lighting lamps arranged sequentially on it. This invention, through the cooperation of the two correcting rollers and the straightening mechanism, can stretch the nonwoven fabric in multiple directions, not only avoiding wrinkles and ensuring detection results but also improving the cleaning effect of the cleaning mechanism.

[0004] The shortcomings of the existing technology are that, since the visual inspection equipment is used in conjunction with the lighting system to detect defects in the non-woven fabric processing, and the lighting system and the visual inspection equipment are fixed to the crossbeam by means of an integrated structure or fixed installation for directional inspection of the non-woven fabric, the adjustment methods of the lighting system and the visual inspection equipment are limited, and there is no coordinated adjustment method between the two, resulting in the limitation of the use of the lighting system and the visual inspection equipment. Summary of the Invention

[0005] The purpose of this invention is to provide a multi-axis inspection robot for non-woven fabric processing. Through the transmission and linkage components and the action of the power switching component, the installed inspection camera and lighting strip can be adjusted in a way that the movable adjustment structure cooperates with each other, thereby improving the flexibility of use and avoiding the limitations of integrated or fixed structures.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a multi-axis inspection robot for non-woven fabric processing, comprising a mobile platform and a four-axis robotic arm at the top of the mobile platform; a fixed platform is provided at one end of the four-axis robotic arm, and a power switching component is connected to the bottom end of the fixed platform via a quick-connect structure; a transmission component and a linkage component are respectively connected to the bottom end of the power switching component; a detection camera is movably provided at the bottom end of the transmission component, and the detection camera moves directionally along the transmission component; an illumination strip is movably provided at the bottom end of the linkage component, and the illumination strip extends by monitoring the movement of the camera and is adjusted by rotating the linkage component; when the detection camera moves directionally, the detection camera drives the linkage component to extend the illumination strip connected to it, and drives the illumination strip to change its angle through the power switching component, thereby realizing adjustable illumination angle of the light strip.

[0007] As a further description of the above technical solution: The power switching component includes a fixed frame, an input shaft is rotatably mounted inside the fixed frame, a rectangular shaft is fixedly connected between the two input shafts, a movable gear is sleeved on the outside of the rectangular shaft, a limit clamp is provided at one end of the movable gear, and the limit clamp is slidably mounted on the fixed frame.

[0008] As a further description of the above technical solution: One end of the limiting clamp is fixedly connected to a fixing lug, and piston rods are symmetrically fixedly connected to both ends of the fixing lug. One end of the piston rod is provided with a piston cylinder. The end of the piston cylinder away from the piston rod is connected to a conduit. The end of the conduit away from the piston cylinder is connected to a hydraulic pump, and the hydraulic pump is fixedly connected to the fixed frame.

[0009] As a further description of the above technical solution: The movable gear has a first tooth block at one end and a second tooth block at the other end, with the first tooth block and the second tooth block respectively located on both sides of the movable gear.

[0010] As a further description of the above technical solution: The first gear shaft is fixedly connected to a bolt rod through the fixed frame. The bottom end of the bolt rod is movably connected to a limit block. The top end of the limit block is symmetrically fixedly connected to a directional rod, and the top end of the directional rod is fixedly connected to the fixed frame.

[0011] As a further description of the above technical solution: The directional rod is slidably connected to a movable block, and the slot of the movable block is threadedly connected to the bolt rod. A detection camera is fixedly connected to one end of the movable block, and a lever is fixedly connected to the other end of the movable block.

[0012] As a further description of the above technical solution: A fixing frame is fixedly connected to the bottom end of the fixing frame. A support shaft is symmetrically fixedly connected to one end of the fixing frame. A sleeve is sleeved on one end of the support shaft. A bevel gear ring is fixedly connected to the outside of the sleeve. A rocker arm is movably connected to the end of the support shaft away from the sleeve. A gear block is fixedly connected to one end of the rocker arm, and the two gear blocks mesh.

[0013] As a further description of the above technical solution: The swing arm has a directional groove, and a lever is provided in the directional groove. A support base is symmetrically fixed to one end of the swing arm. A connecting rod is rotatably connected in the support base. A bevel gear three is symmetrically fixed to both ends of the connecting rod. The bevel gear three meshes with a bevel gear ring and a bevel gear four, respectively.

[0014] As a further description of the above technical solution: The bottom end of the swing arm is movably connected to a connecting rod, and two ends of the connecting rod are symmetrically fixed with bevel gears four. One end of the bevel gears four is fixed with a fixed plate, one end of the fixed plate is fixed with a lamp holder, and the bottom end of the lamp holder is fixed with a lighting strip.

[0015] As a further description of the above technical solution: The fixed platform includes a fixed sleeve, which is movably connected to the four-axis robotic arm. A servo motor is provided inside the fixed sleeve, and an output shaft is provided at the bottom of the servo motor, which is adapted to the input shaft.

[0016] This invention provides a multi-axis inspection robot for non-woven fabric processing, which has the following advantages: In this invention, the installed detection camera and lighting strip are adjusted by means of a movable adjustment structure through the action of the transmission component and the linkage component under the action of the power switching component, thereby improving the flexibility of use and avoiding the limitations of integrated or fixed structures. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of a multi-axis inspection robot for non-woven fabric processing proposed in this invention; Figure 2 This is a schematic diagram of the structure of the fixing sleeve in this invention; Figure 3 This is a schematic diagram of the fixed frame structure in this invention; Figure 4 This is a schematic diagram of the movable gear in this invention; Figure 5 This is a schematic diagram of the hydraulic pump in this invention; Figure 6 This is a schematic diagram of the detection camera structure in this invention; Figure 7 This is a schematic diagram of the support frame in this invention; Figure 8 This is a schematic diagram of the structure of the lighting strip in this invention; Figure 9 In this invention Figure 6 Enlarged view of point A in the middle.

[0018] Legend: 1. Mobile platform; 2. Four-axis robotic arm; 3. Fixed platform; 31. Fixed sleeve; 32. Servo motor; 33. Output shaft; 4. Power switching component; 41. Fixed frame; 42. Input shaft; 421. Rectangular shaft; 43. Movable gear; 44. Limit clamp; 441. Piston rod; 442. Piston cylinder; 443. Guide tube; 444. Hydraulic pump; 445. Fixed lug; 45. First gear block; 46. Second gear block; 461. Bevel gear one; 462. Bevel gear two; 463. Support frame; 464 1. Connecting rod; 465. Transmission gear shaft; 5. Transmission component; 51. Bolt rod; 52. Orienting rod; 53. Movable block; 531. Toggle lever; 54. Limiting block; 6. Detection camera; 7. Linkage component; 71. Swing rod; 711. Orienting groove; 712. Gear block; 72. Support base; 73. Connecting rod; 74. Bevel gear three; 75. Bevel gear ring; 76. Sleeve; 77. Support shaft; 78. Fixing frame; 79. Linking rod; 710. Bevel gear four; 701. Fixing plate; 702. Lamp holder; 8. Lighting strip. Detailed Implementation

[0019] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0020] Reference Figure 1-9 A multi-axis inspection robot for nonwoven fabric processing includes a mobile platform 1 and a four-axis robotic arm 2 at the top of the mobile platform 1. One end of the four-axis robotic arm 2 is equipped with a fixed platform 3, and the bottom of the fixed platform 3 is connected to a power switching component 4 via a quick-connect structure. The bottom of the power switching component 4 is connected to a transmission component 5 and a linkage component 7. A detection camera 6 is movably mounted at the bottom of the transmission component 5 and moves directionally along the transmission component 5. An illumination strip 8 is movably mounted at the bottom of the linkage component 7, and the illumination strip 8 extends by monitoring the movement of the camera and is adjusted by rotating the linkage component 7. When the detection camera 6 moves directionally, the detection camera 6 drives the linkage component 7 to extend the connected illumination strip 8, and the power switching component 4 drives the illumination strip 8 to change its angle, thus achieving adjustable illumination angle.

[0021] Specifically, the mobile platform 1 and the four-axis robotic arm 2 are existing technologies. The use of a movable support platform improves the ease of movement of the device. Simultaneously, the four-axis robotic arm 2 enhances the flexibility of the device in multi-degree-of-freedom states. The fixed platform 3, located at the movable connection of the four-axis robotic arm 2, serves as the power output end. It is connected to the power switching component 4 via a quick-disassembly and connection structure (magnetic and snap-fit ​​structures are existing quick-disassembly and connection structures and will not be detailed further). The power switching component 4 transmits the power output from the fixed platform 3 to the transmission component 5 and the linkage component 7 respectively. When the transmission component 5 rotates, the detection camera of the threaded connection of the transmission component 5... The camera 6 can move directionally along the transmission component 5 to detect the distance between the camera 6 and the material. During the movement of the camera 6, the lighting strip 8, which is movably connected to the linkage component 7, extends. When the linkage component 7 rotates, the lighting strip 8, which is movably connected to the connector, rotates along the connection point of the connector, so that the lighting strip 8 can be adaptively adjusted according to the lighting angle requirements. This device, through the transmission component 5 and the linkage component 7 under the action of the power switching component 4, allows the installed camera 6 and the lighting strip 8 to be adjusted in a way that cooperates with each other through the movable adjustment structure, improving the flexibility of use and avoiding the limitations of integrated or fixed structures in use.

[0022] The power switching component 4 includes a fixed frame 41. An input shaft 42 is rotatably mounted inside the fixed frame 41. A rectangular shaft 421 is fixedly connected between the two input shafts 42. A movable gear 43 is sleeved on the outer side of the rectangular shaft 421. A limiting clamp 44 is provided at one end of the movable gear 43, and the limiting clamp is slidably mounted on the fixed frame 41. A fixed ear 445 is fixedly connected to one end of the limiting clamp 44. Piston rods 441 are symmetrically fixed to both ends of the fixed ear 445. A piston cylinder 442 is provided at one end of the piston rod 441. A conduit 443 is connected to the end of the piston cylinder 442 away from the piston rod 441. A hydraulic pump 444 is connected to the end of the conduit 443 away from the piston cylinder 442, and the hydraulic pump 444 is fixedly mounted on the fixed frame 41. On the fixed frame 41; a first tooth block 45 is provided at one end of the movable gear 43, and a second tooth block 46 is provided at the other end of the movable gear 43, with the first tooth block 45 and the second tooth block 46 respectively located on both sides of the movable gear 43; a bolt rod 51 is fixedly connected to the first gear shaft through the fixed frame 41, a limit block 54 is movably connected to the bottom end of the bolt rod 51, a guide rod 52 is symmetrically fixed to the top end of the limit block 54, and the top end of the guide rod 52 is fixedly connected to the fixed frame 41; a movable block 53 is slidably connected to the guide rod 52, and the slot of the movable block 53 is threadedly connected to the bolt rod 51; a detection camera 6 is fixedly connected to one end of the movable block 53, and a lever 531 is fixedly connected to the other end of the movable block 53.

[0023] Specifically, the fixed frame 41 in the power switching component 4 is used to limit the positions of the movable gear 43, the first tooth block 45, and the second tooth block 46. The movable gear 43 is movably limited to the rectangular shaft 421 by the limiting clamp 44 sleeved on it. When the hydraulic pump 444 pressurizes the hydraulic oil from the conduit 443 into the piston cylinder 442, the piston rod 441 in the piston cylinder 442 is pushed by the hydraulic pump 444 to move the fixed ear 445 fixed to the piston rod 441 in a directional manner. This allows the limiting clamp 44 fixed to the fixed ear 445 to drive the movable gear 43 to move in a directional manner along the rectangular shaft 421, so that the movable gear 43 switches transmission between the first tooth block 45 and the second tooth block 46. When the movable gear 43 meshes with the first tooth block 45 under the action of the limiting clamp 44, the first tooth block 45 drives the movable block 53 to move through the bolt rod 51. This causes the movable block 53 to drive the fixedly connected detection camera 6 to move up or down along the directional rod 52, so that the distance between the detection camera 6 and the material is adjustable.

[0024] A fixing frame 78 is fixedly connected to the bottom end of the fixing frame 41. A support shaft 77 is symmetrically fixedly connected to one end of the fixing frame 78. A sleeve 76 is fitted onto one end of the support shaft 77. A bevel gear ring 75 is fixedly connected to the outside of the sleeve 76. A rocker arm 71 is movably connected to the end of the support shaft 77 away from the sleeve 76. A gear block 712 is fixedly connected to one end of the rocker arm 71, and the two gear blocks 712 mesh. The rocker arm 71 has a directional groove 711, and a lever 531 is provided in the directional groove 711. A symmetrical support shaft 77 is fixed to one end of the rocker arm 71. A support base 72 is connected, and a connecting rod 73 is rotatably connected inside the support base 72. A bevel gear 74 is symmetrically fixed at both ends of the connecting rod 73. The bevel gear 74 meshes with a bevel gear ring 75 and a bevel gear 710 respectively. A connecting rod 79 is movably connected to the bottom end of the swing rod 71. A bevel gear 710 is symmetrically fixed at both ends of the connecting rod 79. A fixed plate 701 is fixed at one end of the bevel gear 710. A lamp holder 702 is fixed at one end of the fixed plate 701. A lighting strip 8 is fixed at the bottom end of the lamp holder 702.

[0025] Specifically, when the movable toothed block meshes with the second toothed block 46 under the action of the limiting clamp 44, the shaft of the second toothed block 46 passes through the fixed frame 41 and rotates synchronously with the bevel gear 461. One end of the bevel gear 461 meshes with the second bevel gear 462, and one end of the second bevel gear 462 is fixedly connected to a connecting rod 464. The connecting rod 464 is limited to the fixed frame 41 by the support frame 463. The end of the connecting rod 464 away from the second bevel gear 462 is fixedly connected to a transmission gear shaft 465, and the transmission gear shaft 465 meshes with two bevel gear rings 75. This causes the two shaft gear rings to rotate in opposite directions when the transmission gear shaft 465 rotates. The bevel gear 3 74 meshed with the bevel gear ring 75 drives the connecting rod 79 to rotate. The bevel gear 4 710 located at the bottom of the connecting rod 79 and meshed with the bevel gear 3 74 rotates synchronously. This allows the fixed plate 701 and the lamp holder 702, which are fixed to the bevel gear 4 710, to adjust the angle of the lighting strip 8 fixed to the lamp holder 702 by rotating, thereby improving the compatibility between the lighting strip 8 and the monitoring camera and reducing the limitations in the non-woven fabric detection process.

[0026] The fixed platform 3 includes a fixed sleeve 31, which is movably connected to the four-axis robotic arm 2. A servo motor 32 is provided inside the fixed sleeve 31, and an output shaft 33 is provided at the bottom of the servo motor 32. The output shaft 33 is adapted to the input shaft 42. Specifically, the position of the fixed platform 3 is driven by the four-axis robotic arm 2. The servo motor 32 fixed in the fixed platform 3 serves as the power output, and the power output is performed by engaging with the input end through the output shaft 33.

[0027] Working Principle: The mobile platform 1 and the four-axis robotic arm 2 are existing technologies. The mobile platform facilitates the movement of this device, while the four-axis robotic arm 2 enhances the device's flexibility in multiple degrees of freedom. The fixed platform 3 connected to the four-axis robotic arm 2 serves as the power output end, and a power switching component 4 is connected via a quick-release structure. The power switching component 4 transmits the power output from the fixed platform 3 to the transmission component 5 and the linkage component 7, respectively. The movement of the movable gear 43 is limited to the rectangular shaft 421 by a limiting clamp 44 fitted with a limiting gear 43. When the hydraulic pump 444 pressurizes hydraulic oil from the conduit 443 into the piston cylinder 442, the piston rod 441 in the piston cylinder 442, under the action of the hydraulic pump 444, pushes the fixed lug 445 fixed to the piston rod 441 to move in a directional manner. This causes the limiting clamp 44 fixed to the fixed lug 445 to drive the movable gear 43 to move in a directional manner along the rectangular axis 421, so that the movable gear 43 switches transmission between the first tooth block 45 and the second tooth block 46. When the movable gear 43 meshes with the first tooth block 45 under the action of the limiting clamp 44, the first tooth block... 45. The movable block 53 moves via the bolt rod 51, causing the movable block 53 to drive the fixedly connected detection camera 6 to move up or down along the directional rod 52. When the movable toothed block meshes with the second toothed block 46 under the action of the limiting clamp 44, the shaft of the second toothed block 46 passes through the fixed frame 41 and the bevel gear 461 fixedly connected to it rotates synchronously. One end of the bevel gear 461 meshes with the second bevel gear 462, and one end of the second bevel gear 462 is fixedly connected to the connecting rod 464. The connecting rod 464 is limited to the fixed frame 41 by the support frame 463, and the connecting rod 464 is away from the fixed frame 41. One end of bevel gear 462 is fixedly connected to a transmission gear shaft 465, and the transmission gear shaft 465 meshes with two bevel gear rings 75, so that when the transmission gear shaft 465 rotates, the two shaft gear rings rotate in opposite directions. The bevel gear 74 meshed with the bevel gear ring 75 drives the connecting rod 79 to rotate. The bevel gear 710 located at the bottom end of the connecting rod 79 and meshed with the bevel gear 74 rotates synchronously, so that the fixed plate 701 fixed to the bevel gear 710 and the lamp holder 702 can adjust the angle of the lighting strip 8 fixed by the lamp holder 702 by rotation.

[0028] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A multi-axis inspection robot for nonwoven fabric processing, characterized in that, Includes a mobile platform (1) and a four-axis robotic arm (2) at the top of the mobile platform (1); The four-axis robotic arm (2) has a fixed platform (3) at one end. The bottom end of the fixed platform (3) is connected to a power switching component (4) through a quick-connect structure. The bottom end of the power switching component (4) is connected to a transmission component (5) and a linkage component (7). The bottom end of the transmission component (5) is movably provided with a detection camera (6), and the detection camera (6) moves in a direction along the transmission component (5). The bottom end of the linkage component (7) is movably provided with a lighting strip (8), and the lighting strip (8) extends through the movement of the monitoring camera and is adjusted by the rotation of the linkage component (7). When the detection camera (6) moves in a directional manner, the transmission linkage (7) of the detection camera (6) drives the connected lighting strip (8) to extend, and drives the lighting strip (8) to change its own angle through the power switching component (4), so that the lighting angle of the light strip can be adjusted.

2. The multi-axis inspection robot for nonwoven fabric processing according to claim 1, characterized in that, The power switching component (4) includes a fixed frame (41), an input shaft (42) is rotatably provided inside the fixed frame (41), a rectangular shaft (421) is fixed between the two input shafts (42), a movable gear (43) is sleeved on the outside of the rectangular shaft (421), a limiting clamp (44) is provided at one end of the movable gear (43), and the limiting clamp is slidably provided on the fixed frame (41).

3. The multi-axis inspection robot for nonwoven fabric processing according to claim 2, characterized in that, One end of the limiting clamp (44) is fixedly connected to a fixing ear (445), and two ends of the fixing ear (445) are symmetrically fixedly connected to piston rods (441). One end of the piston rod (441) is provided with a piston cylinder (442). The end of the piston cylinder (442) away from the piston rod (441) is connected to a conduit (443). The end of the conduit (443) away from the piston cylinder (442) is connected to a hydraulic pump (444), and the hydraulic pump (444) is fixedly connected to the fixing frame (41).

4. The multi-axis inspection robot for nonwoven fabric processing according to claim 2, characterized in that, The movable gear (43) has a first tooth block (45) at one end and a second tooth block (46) at the other end, with the first tooth block (45) and the second tooth block (46) respectively located on both sides of the movable gear (43).

5. A multi-axis inspection robot for nonwoven fabric processing according to claim 2, characterized in that, The first gear shaft is fixed to a bolt rod (51) through the fixed frame (41). The bottom end of the bolt rod (51) is movably connected to a limit block (54). The top end of the limit block (54) is symmetrically fixed to a guide rod (52), and the top end of the guide rod (52) is fixed to the fixed frame (41).

6. The multi-axis inspection robot for nonwoven fabric processing according to claim 5, characterized in that, The directional rod (52) is slidably connected to a movable block (53), and the slot of the movable block (53) is threadedly connected to the bolt rod (51). A detection camera (6) is fixedly connected to one end of the movable block (53), and a lever (531) is fixedly connected to the other end of the movable block (53).

7. The multi-axis inspection robot for nonwoven fabric processing according to claim 2, characterized in that, The bottom end of the fixed frame (41) is fixedly connected to a fixed bracket (78). One end of the fixed bracket (78) is symmetrically fixedly connected to a support shaft (77). One end of the support shaft (77) is fitted with a sleeve (76). A bevel gear ring (75) is fixedly connected to the outside of the sleeve (76). The end of the support shaft (77) away from the sleeve (76) is movably connected to a rocker arm (71). One end of the rocker arm (71) is fixedly connected to a gear block (712), and the two gear blocks (712) mesh.

8. The multi-axis inspection robot for nonwoven fabric processing according to claim 7, characterized in that, The swing arm (71) has a directional groove (711) and a lever (531) is provided in the directional groove (711). A support base (72) is symmetrically fixed to one end of the swing arm (71). A connecting rod (73) is rotatably connected in the support base (72). A bevel gear three (74) is symmetrically fixed to both ends of the connecting rod (73). The bevel gear three (74) meshes with the bevel gear ring (75) and the bevel gear four (710) respectively.

9. A multi-axis inspection robot for nonwoven fabric processing according to claim 7, characterized in that, The bottom end of the swing arm (71) is movably connected to a connecting rod (79), and the two ends of the connecting rod (79) are symmetrically fixed with bevel gears (710). One end of the bevel gears (710) is fixed with a fixed plate (701), and one end of the fixed plate (701) is fixed with a lamp holder (702). The bottom end of the lamp holder (702) is fixed with a lighting strip (8).

10. A multi-axis inspection robot for nonwoven fabric processing according to claim 1, characterized in that, The fixed platform (3) includes a fixed sleeve (31), and the fixed sleeve (31) is movably connected to the four-axis robotic arm (2). The fixed sleeve (31) is equipped with a servo motor (32), and the bottom end of the servo motor (32) is equipped with an output shaft (33), and the output shaft (33) is adapted to the input shaft (42).

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