A flexible reconfigurable inspection system based on industrial robots

Abstract

The application discloses a kind of flexible reconfigurable detection systems based on industrial robot, it is related to intelligent manufacturing machine vision detection technical field, including feeding mechanism, detection unit, lift assembly and base, the feeding mechanism, detection unit, lift assembly below are all fixedly connected with bottom plate, bottom plate is fixed in the top of base by positioning pin, belt conveyor is provided between lift assembly and feeding mechanism, detection unit is arranged at the side of lift assembly away from feeding mechanism, lift assembly includes multiple sets of supporting plate, multiple sets of clamping parts, workpiece is provided above belt conveyor, when workpiece is located above supporting plate, clamping part and the outside of workpiece abut, when being in detection procedure, detection unit can correspond to the position of workpiece above two sets of supporting plate, realize synchronous detection next group of workpiece front and last group of workpiece back, feeding mechanism includes support one, cylinder one and feeding cylinder, the application has the characteristics of double-station synchronous detection.

Description

Technical Field

[0001] This invention relates to the field of intelligent manufacturing machine vision inspection technology, specifically a flexible and reconfigurable inspection system based on industrial robots. Background Technology

[0002] With the continued popularization of flexible manufacturing models that offer diverse products and small batches, automated online inspection equipment relying on industrial robots and machine vision has become a core component of intelligent manufacturing production lines. To adapt to the need for rapid switching between different workpieces and different processes, modular and reconfigurable automated equipment solutions have emerged in existing technologies. These solutions use base positioning pins and standardized quick-assembly interfaces to break down functional units such as robots, conveyors, and storage into independent modules, enabling rapid reconfiguration of equipment layout and production line processes. Single-station inspection and multi-process linkage production lines can be flexibly built according to production tasks.

[0003] Existing inspection solutions often involve directly mounting industrial cameras above a conveyor belt, with the workpiece moving synchronously with the belt to complete image acquisition. However, in actual inspection, the workpiece vibrates synchronously with the belt. To ensure image clarity, the belt needs to stop and wait in the camera shooting area. After a single piece is inspected, the belt restarts to transport the workpiece again. The entire production line is in an intermittent production state, where only a single piece can be loaded and photographed at the same time. Each process is sequential and waiting, resulting in low equipment utilization.

[0004] Therefore, it is necessary to design a flexible and reconfigurable inspection system based on industrial robots for dual-station synchronous inspection. Summary of the Invention

[0005] The purpose of this invention is to provide a flexible and reconfigurable detection system based on industrial robots to solve the problems mentioned in the background art.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a flexible and reconfigurable detection system based on an industrial robot, comprising a feeding mechanism, a detection unit, a lifting assembly, and a base. A base plate is fixedly connected below the feeding mechanism, the detection unit, and the lifting assembly. The base plate is fixed above the base by positioning pins. A belt conveyor is provided between the lifting assembly and the feeding mechanism. The detection unit is located on the side of the lifting assembly away from the feeding mechanism. The lifting assembly includes multiple sets of pallets and multiple sets of clamping components. A workpiece is placed above the belt conveyor. When the workpiece is above the pallet, the clamping components abut against the outside of the workpiece. During the detection process, the detection unit can correspond to the position of the workpiece above the two sets of pallets, achieving simultaneous detection of the front of the next set of workpieces and the back of the previous set of workpieces.

[0007] According to the above technical solution, the feeding mechanism includes a support frame 1, a cylinder 1, and a feeding cylinder. The support frame 1 is bolted to the top of the base plate and is adapted to the height of the belt conveyor. The cylinder 1 is fixedly connected to the top of the support frame 1. The piston rod of the cylinder 1 is fixedly connected to a push plate. The push plate is L-shaped and has a long side and a short side. The support frame 2 is fixedly connected to the top of the support frame 1 and is inverted U-shaped. The feeding cylinder is fixedly connected to the top of the support frame 2. The feeding cylinder is hollow inside and communicates with the inside of the support frame 2. The long side of the push plate faces the side of the feeding cylinder that communicates with the support frame 2. Multiple sets of workpieces are arranged inside the feeding cylinder and are adapted to the size of the feeding cylinder. When feeding is required, the piston rod of the cylinder 1 extends, and the short side of the push plate abuts against a set of workpieces, thereby pushing the workpieces onto the belt conveyor. The long side of the push plate can abut against the next set of workpieces, thereby preventing the next set of workpieces from being fed simultaneously and realizing intermittent feeding of a single workpiece.

[0008] According to the above technical solution, the lifting assembly also includes a support three, a chain and two sets of sprockets. A motor one is fixedly connected to one side of the support three. The output shaft of the motor one passes through the support three and is fixedly connected to a set of sprockets. The two sets of sprockets are arranged vertically along the vertical axis and the other set of sprockets is connected to the bearing of the support three. A rotating shaft is fixedly connected to the side of the support plate near the chain. The rotating shaft passes through the roller of the chain and is connected to the bearing of the chain. The chain is divided into an ascending section and a descending section along the axis of its length.

[0009] According to the above technical solution, an anti-rotation frame is fixedly connected to the side of the rotating shaft away from the tray. The anti-rotation frame is cross-shaped and two sets of fixed shaft one and fixed shaft two are fixedly connected to the four vertices respectively. The two sets of fixed shaft one are arranged opposite each other and the length of fixed shaft one is greater than the length of fixed shaft two. A gear is fixedly connected to the outside of the rotating shaft. The gear is located between the chain and the anti-rotation frame. A track groove is opened on the side of the bracket three near the tray. The track groove does not penetrate the bracket three. Fixed shaft one is slidably connected to the track groove.

[0010] According to the above technical solution, the overall curve of the track groove is the same as the movement trajectory of the chain. Limiting block 1, limiting block 2 and limiting block 3 are fixedly connected inside the track groove. Limiting block 2 is located in the center of the track groove and its upper end corresponds to the position of motor 1. Limiting block 1, limiting block 2 and limiting block 3 and the track groove form passage 1, passage 2, passage 3 and passage 4, which provide limits for the movement of the two sets of fixed shafts 1. When the pallet carries the workpiece close to the detection unit, the two sets of fixed shafts 1 are located in passage 3 and passage 4 respectively. Two sets of protrusions are fixedly connected to the side of limiting block 1 and limiting block 3 near the chain. Passage 5 is formed between the two sets of protrusions, which provides limits for the movement of the two sets of fixed shafts 2. Limiting block 1 has a reversing groove along its length axis. The reversing groove is connected to passage 1 and passage 2. When the fixed shaft 1 is located in passage 3 and passage 4, the front of the workpiece and the pallet faces the detection unit.

[0011] According to the above technical solution, a fixing plate is bolted to the top of the bracket three. Two sets of sliding rods are passed through the other end of the fixing plate. A rack one is fixedly connected to the side of the two sets of sliding rods away from the fixing plate. Multiple sets of springs are set between the two sets of sliding rods. The two ends of each set of springs are fixedly connected to the fixing plate and the rack one, respectively. The position of the rack one corresponds to the running trajectory of the gear. A rack two is fixedly connected to the side of the bracket three away from the motor one. The rack two is located on the side of the reversing groove away from the feeding mechanism. The lengths of the rack one and rack two are adapted to the circumference of the gear. When the pallet rotates to the top of the chain, the gear can mesh with the rack one, thereby realizing that it moves along the curve of the chain while rotating 180 degrees around the axis of rotation.

[0012] According to the above technical solution, the clamping component includes clamping block one and clamping block two. Motor two and motor three are bolted to the bottom of the pallet. The output shaft of motor two passes through the pallet and is fixedly connected to clamping block one. Clamping block one and clamping block two have the same structure and their sides are V-shaped. Motor two and motor three are arranged diagonally. A transparent window is provided in the center of the pallet to facilitate observation of defects on the front and back of the workpiece. When the position of the pallet corresponds to the position of the belt conveyor, the V-shaped side of clamping block two faces the belt conveyor, thereby freeing up the conveying space for the workpiece and allowing the workpiece to be conveyed to the top of the pallet without obstruction.

[0013] According to the above technical solution, the detection unit includes camera one, camera two and frame. The frame is bolted to the base plate and is in an inverted L shape. Camera one and camera two are fixed to one end of the frame by cross clamps. The positions of camera one and camera two correspond to the positions of the pallets in the rising section and the falling section, respectively, which can realize the synchronous detection of two workpieces. An industrial robot is set on the side of the bracket three away from motor one. The bottom of the industrial robot is bolted to the base plate for gripping materials.

[0014] According to the above technical solution, a receiving unit is provided between the support three and the industrial robot. The receiving unit includes a support four, which is bolted to the base plate. A receiving frame is fixedly connected above the support four. The receiving frame is U-shaped and has an inclined block fixedly connected to the side near the support three. When the workpiece needs to be unloaded, the position of the pallet corresponds to the inclined block. A photoelectric switch one is fixedly connected to one side of the receiving frame. An opening slot is opened on one side of the receiving frame, and the position of the opening slot corresponds to the position of the photoelectric switch one. When the device unloads the workpiece, the position of the workpiece corresponds to the position of the photoelectric switch one.

[0015] According to the above technical solution, a rotating storage unit is provided on one side of the belt conveyor. The rotating storage unit includes a bracket five, a motor three is installed inside the bracket five, the output shaft of the motor three passes through the bracket five and is fixedly connected to a rotating spindle, and two sets of storage trays are fixedly connected to the outer circle of the rotating spindle. Each set of storage trays has multiple sets of placement slots opened along the circumference, and an L-shaped limiting block four is fixedly connected inside the placement slot. Multiple sets of photoelectric switches two are fixedly connected around the circumference above the storage tray, and the position of each set of photoelectric switches two corresponds to the position of the placement slot.

[0016] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: The present invention, by setting rack one, rack two and detection unit in linkage, can realize the synchronous completion of the front of the workpiece in the rising section and the back of the workpiece in the falling section, thereby improving detection efficiency and equipment utilization rate. Attached Figure Description

[0017] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the belt conveyor and feeding mechanism of the present invention; Figure 3 This is a schematic diagram of the supporting component structure of the present invention; Figure 4 For the present invention Figure 3 Enlarged view of point A in the middle; Figure 5 This is a schematic diagram of the pallet and anti-rotation frame structure of the present invention; Figure 6 This is a schematic diagram of the disassembled structure of the support bracket and chain of the present invention; Figure 7 This is a schematic diagram of the support structure with three upper track grooves according to the present invention; Figure 8 For the present invention Figure 7 Enlarged view of point B in the middle; Figure 9 This is a schematic diagram of the clamping component structure of the present invention; Figure 10 This is a schematic diagram showing the positional correspondence between the detection unit and the supporting component of the present invention; Figure 11 This is a schematic diagram of the receiving unit structure of the present invention; Figure 12 This is a schematic diagram of the rotating storage unit structure of the present invention; Figure 13 For the present invention Figure 12 Enlarged view of point C in the middle; Figure 14This is a diagram showing the state of the clamping component of the present invention clamping the workpiece; Figure 15 This is a diagram showing the state of clamping block one and clamping block two during material feeding according to the present invention; Figure 16 This is a diagram showing the connection state of the fixed shaft one, fixed shaft two, and track groove of the present invention; In the diagram: 1. Feeding mechanism; 2. Detection unit; 3. Lifting assembly; 4. Belt conveyor; 5. Base; 6. Pallet; 7. Clamping component; 8. Workpiece; 9. Support 1; 10. Cylinder 1; 11. Feeding cylinder; 12. Push plate; 13. Support 2; 14. Support 3; 15. Chain; 16. Sprocket; 17. Motor 1; 18. Rotating shaft; 19. Anti-rotation frame; 20. Fixed shaft 1; 21. Fixed shaft 2; 22. Track groove; 23. Limiting block 1; 24. Limiting block 2; 25. Limiting block 3; 26. Protrusion; 27. Reversing groove; 28. Fixed plate; 29. ​​Slide 30. Moving rod; 31. Rack 1; 32. Rack 2; 33. Gear; 34. Motor 2; 35. Clamping block 1; 36. Transparent window; 37. Camera 1; 38. Camera 2; 39. Frame; 40. Industrial robot; 41. Support 4; 42. Receiving rack; 43. Inclined block; 44. Photoelectric switch 1; 45. Rotary storage unit; 46. Support 5; 47. Receiving unit; 48. Rotary spindle; 49. Storage tray; 50. Placement slot; 51. Limiting block 4; 52. Photoelectric switch 2; 53. Passage 1; 54. Passage 2; 55. Passage 4. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Please see Figure 1-16This invention provides a technical solution: a flexible and reconfigurable inspection system based on an industrial robot, comprising a feeding mechanism 1, an inspection unit 2, a lifting assembly 3, and a base 5. A base plate is fixedly connected to the bottom of the feeding mechanism 1, the inspection unit 2, and the lifting assembly 3. The base plate is fixed above the base 5 by positioning pins. A belt conveyor 4 is provided between the lifting assembly 3 and the feeding mechanism 1. The belt conveyor 4 consists of a drive roller, an anti-slip belt, a drive motor, etc., which is existing technology. The inspection unit 2 is located on the side of the lifting assembly 3 away from the feeding mechanism 1. The lifting assembly 3 includes multiple sets of pallets 6 and multiple sets of clamping components 7. A workpiece 8 is placed above the belt conveyor 4. When the workpiece 8 is above the pallets 6, the clamping components 7 abut against the outside of the workpiece 8. During the inspection process, the inspection unit 2 can correspond to the position of the workpiece 8 above the two sets of pallets 6 (e.g., ...). Figure 10 As shown in the figure, the front side of the next set of workpieces 8 and the back side of the previous set of workpieces 8 are detected simultaneously.

[0020] The feeding mechanism 1 includes a support frame 9, a cylinder 10, and a feeding cylinder 11. The support frame 9 is bolted to the top of the base plate and is adapted to the height of the belt conveyor 4. The cylinder 10 is fixedly connected to the top of the support frame 9. The piston rod of the cylinder 10 is fixedly connected to a push plate 12, which is L-shaped and has a long side and a short side. A support frame 13 is fixedly connected above the support frame 9, and the support frame 13 is inverted U-shaped. The feeding cylinder 11 is fixedly connected above the support frame 13. The feeding cylinder 11 is hollow inside. The push plate 12 is connected to the inside of the support 13. The long side of the push plate 12 faces the side of the feeding cylinder 11 that is connected to the support 13. Multiple sets of workpieces 8 are set inside the feeding cylinder 11 and are adapted to the size of the feeding cylinder 11. When feeding is required, the piston rod of the cylinder 10 extends and the short side of the push plate 12 abuts against a set of workpieces 8, thereby pushing the workpieces 8 onto the belt conveyor 4. The long side of the push plate 12 can abut against the next set of workpieces 8, thereby preventing the next set of workpieces 8 from being fed out at the same time, and realizing intermittent feeding of a single workpiece 8.

[0021] The lifting assembly 3 also includes a bracket 14, a chain 15, and two sets of sprockets 16. A motor 17 is fixedly connected to one side of the bracket 14. The output shaft of the motor 17 passes through the bracket 14 and is fixedly connected to one set of sprockets 16. The two sets of sprockets 16 are arranged vertically along the vertical axis, and the other set of sprockets 16 is connected to the bearing of the bracket 14. The chain 15 is made of rollers, pins, and chain plates, which is existing technology and will not be described in detail. A rotating shaft 18 is fixedly connected to the side of the support plate 6 near the chain 15. The rotating shaft 18 passes through the rollers of the chain 15 and is connected to the bearings thereto. The chain 15 is divided into an ascending section and a descending section along the axis of its length.

[0022] A rotating shaft 18 is fixedly connected to an anti-rotation frame 19 on the side away from the pallet 6. The anti-rotation frame 19 is cross-shaped and has two sets of fixed shafts 1-20 and 2-1 fixedly connected to its four vertices. The two sets of fixed shafts 1-20 are arranged opposite each other and the length of fixed shaft 1-20 is greater than the length of fixed shaft 2-21. A gear 32 is fixedly connected to the outside of the rotating shaft 18. The gear 32 is located between the chain 15 and the anti-rotation frame 19. A track groove 22 is opened on the side of the bracket 3-14 near the pallet 6. The track groove 22 does not penetrate the bracket 3-14. The fixed shaft 1-20 is slidably connected to the track groove 22.

[0023] The overall curve of the track groove 22 is the same as the movement trajectory of the chain 15. Inside the track groove 22, limiting blocks 1 23, 24, and 3 25 are fixedly connected. Limiting block 24 is located in the center of the track groove 22, and its upper end corresponds to the position of the motor 17. Limiting blocks 1 23, 24, and 3 25, together with the track groove 22, form pathways 1 52, 2 53, 3 54, and 4 55 (e.g., ...). Figure 7 As shown), it provides limits for the movement of the two sets of fixed shafts 20. When the pallet 6 carries the workpiece 8 close to the detection unit 2, the two sets of fixed shafts 20 are located in passage three 54 and passage four 55 respectively (as shown). Figure 16 As shown), two sets of protrusions 26 are fixedly connected to the side of the limiting block 1 23 and the limiting block 3 25 near the chain 15. The two sets of protrusions 26 form a passage five, which provides a limit for the movement of the two sets of fixed shafts 21. The limiting block 1 23 has a reversing groove 27 along its length axis. The reversing groove 27 is connected to passage one 52 and passage two 53. When the fixed shaft 1 20 is located in passage three 54 and passage four 55, the front of the workpiece 8 and the pallet 6 faces the detection unit 2.

[0024] A fixing plate 28 is bolted to the top of the bracket 3 14. Two sets of sliding rods 29 are passed through the other end of the fixing plate 28. A rack 30 is fixedly connected to the side of the two sets of sliding rods 29 away from the fixing plate 28. Multiple sets of springs are set between the two sets of sliding rods 29. The two ends of each set of springs are fixedly connected to the fixing plate 28 and the rack 30 respectively. The position of the rack 30 corresponds to the running trajectory of the gear 32. A rack 31 is fixedly connected to the side of the bracket 3 14 away from the motor 17. The rack 31 is located on the side of the reversing groove 27 away from the feeding mechanism 1. The lengths of the rack 30 and the rack 31 are adapted to the circumference of the gear 32. When the pallet 6 rotates to the top of the chain 15, the gear 32 can mesh with the rack 30, thereby realizing that it moves along the curve of the chain 15 while rotating 180 degrees around the axis of the rotating shaft 18.

[0025] The clamping component 7 includes clamping block 1 34 and clamping block 2. Motor 2 33 and motor 3 are bolted to the bottom of the pallet 6. The output shaft of motor 2 33 passes through the pallet 6 and is fixedly connected to clamping block 1 34. Clamping block 1 34 and clamping block 2 have the same structure and their sides are V-shaped. Motor 2 33 and motor 3 are arranged diagonally. A transparent window 35 is provided in the center of the pallet 6 to facilitate observation of defects on the front and back of the workpiece 8. When the position of the pallet 6 corresponds to the position of the belt conveyor 4, the V-shaped side of clamping block 2 faces the belt conveyor 4, thereby freeing up the conveying space of the workpiece 8 and allowing the workpiece 8 to be conveyed to the top of the pallet 6 without obstruction.

[0026] The detection unit 2 includes a first camera 36, ​​a second camera 37, and a frame 38. The frame 38 is bolted to the base plate and is in an inverted L-shape. The first camera 36 and the second camera 37 are fixed to one end of the frame 38 by cross-shaped clamps. The positions of the first camera 36 and the second camera 37 correspond to the positions of the support plate 6 in the rising section and the support plate 6 in the falling section, respectively, enabling simultaneous detection of two workpieces 8. An industrial robot 39 (e.g., ...) is installed on the side of the bracket 3 14 away from the motor 17. Figure 1 As shown in the figure, the industrial robot 39 is bolted to the bottom of the base plate and is used to grip materials.

[0027] A receiving unit 46 is provided between the support frame 314 and the industrial robot 39. The receiving unit 46 includes a support frame 40, which is bolted to the base plate. A receiving rack 41 is fixedly connected above the support frame 40. The receiving rack 41 is U-shaped and has a wedge block 42 fixedly connected to the side near the support frame 314. When the workpiece 8 needs to be unloaded, the position of the pallet 6 corresponds to the wedge block 42. A photoelectric switch 43 is fixedly connected to one side of the receiving rack 41. An opening slot is opened on one side of the receiving rack 41, and the position of the opening slot corresponds to the position of the photoelectric switch 43. When the device unloads the workpiece, the position of the workpiece 8 corresponds to the position of the photoelectric switch 43.

[0028] A rotating storage unit 44 is provided on one side of the belt conveyor 4. The rotating storage unit 44 includes a bracket 5 45. A motor 3 (not shown in the figure) is installed inside the bracket 5 45. The output shaft of the motor 3 passes through the bracket 5 45 and is fixedly connected to a rotating spindle 47. Two sets of storage trays 48 are fixedly connected to the outer circle of the rotating spindle 47. Each set of storage trays 48 has multiple sets of placement slots 49 opened along the circumference. An L-shaped limit block 4 50 is fixedly connected inside the placement slot 49. Multiple sets of photoelectric switches 2 51 are fixedly connected around the circumference above the storage trays 48. The position of each set of photoelectric switches 2 51 corresponds to the position of the placement slot 49.

[0029] Example 1: A method for using a flexible reconfigurable inspection system based on an industrial robot, comprising the following steps: S1: Intermittent, single-piece, orderly feeding.

[0030] Specifically, workpieces 8 are pre-stacked inside the feeding cylinder 11 and arranged downwards by their own weight. When cylinder 10 is activated, the piston rod of cylinder 10 extends the push plate 12 along the axis of the piston rod. The short side of the push plate 12 presses forward against the bottom group of workpieces 8 in the feeding cylinder 11, continuously pushing the workpieces 8 horizontally until they are completely pushed onto the anti-slip belt conveyor surface of the belt conveyor 4. While the push plate 12 is pushing forward, the long side of the push plate 12 moves synchronously to the discharge port position of the feeding cylinder 11. The long side end face abuts against the bottom of the next group of workpieces 8 inside the feeding cylinder 11, preventing the upper material from sliding down synchronously, ensuring that only one workpiece 8 is pushed at a time, and avoiding multiple workpieces being stacked and discharged. After a single push is completed, the piston rod of cylinder 10 retracts, and the push plate 12 moves backward in sync to release the limiting constraint on the upper workpiece 8. The workpiece 8 stacked in the feeding cylinder 11 moves downward by gravity to achieve automatic replacement. After waiting for a few seconds (selected by the operator as needed), the next push is carried out, realizing intermittent single-piece continuous feeding of workpiece 8.

[0031] S2: Horizontal transport and vertical transfer of workpiece 8.

[0032] Specifically, the drive motor of the belt conveyor 4 continuously drives the rollers to rotate, causing the anti-slip belt to move at a constant speed. The workpiece 8 pushed out by the push plate 12 is placed directly above the pallet 6 and is horizontally conveyed towards the lifting assembly 3 along with the anti-slip belt. The position of a set of pallets 6 in the lifting assembly 3 corresponds to one end of the belt conveyor 4. The motor 3 is started, causing the clamping block 2 to rotate 180 degrees around the output shaft axis, so that the V-shaped surface of the clamping block 2 faces the belt conveyor 4 (e.g., ...). Figure 9 As shown), sufficient space is provided for the workpiece 8 to pass through, so as not to obstruct the conveying of the workpiece 8 until the workpiece 8 is conveyed from the belt conveyor 4 to the pallet 6.

[0033] Furthermore, after the workpiece 8 has completely moved to the preset bearing area of ​​the pallet 6, motor 17 is started. The output shaft of motor 17 drives a set of sprockets 16 to rotate around the output shaft axis. The two sets of sprockets 16, arranged vertically, work together to drive the chain 15 to slowly circulate, carrying the pallet 6 carrying the workpiece 8 to move around the curve of the chain 15, away from the belt conveyor 4. At this time, motor 3 is driven to operate, causing clamp 2 to rotate and retract (as shown). Figure 14 As shown), this, in conjunction with clamping block 34, achieves centering and clamping of workpiece 8, firmly confining workpiece 8 above the central transparent window 35 of pallet 6. During the ascending phase of chain 15, the two sets of fixed shafts 20 on the cross-shaped anti-rotation frame 19 behind the rotating shaft 18 are slidably connected to passages 54 and 55 inside the track groove 22, respectively. The two sets of vertical fixed shafts 21 slide along the axis of passage 5 (as shown). Figure 16As shown in the figure, this limits the irregular large-amplitude deflection of the pallet 6 and keeps the workpiece 8 in a stable posture.

[0034] S3: Parallel detection by the detection unit.

[0035] Specifically, when the lifting assembly 3 is used for the first time, the first set of workpieces 8 follows the pallet 6 in the rising section. When the pallet 6 is transported to the point where it is about to engage with the rack 30, the camera 36 takes a frontal image of the workpiece 8. At this time, there is no material on the other set of pallets 6 in front of this set of pallets 6, and the clamping blocks 34 and 2 are facing down and correspond to the position of the camera 37.

[0036] Furthermore, after taking the frontal photograph, when the pallet 6 follows the chain 15 to the reversing area at the top of the chain 15, the gear 32 on the rotating shaft 18 meshes with the rack 30. The chain 15 continuously pulls the pallet 6 to move along the arc trajectory of the sprocket 16. At this time, the rack 30 drives the gear 32 to rotate around the axis of the rotating shaft 18, and synchronously rotates the pallet 6 and the workpiece 8 by 180 degrees, realizing the flipping of the workpiece. At the same time, the spring continuously applies a preload force to the rack 30 to ensure that the gear 32 and the rack 30 are in a stable position. During movement, pallet 6 maintains a tight mesh throughout to prevent gaps that could lead to insufficient rotation angle. After pallet 6 completes a 180-degree rotation, gear 32 disengages from rack 30, and pallet 6 follows chain 15 into the descending section. Two sets of fixed shafts 20 slide along the axes of passage 52 and passage 53. At this time, the next set of pallets 6 is positioned in the ascending section's imaging position. Camera 37 of detection unit 2 captures the reverse side of workpiece 8, and camera 36 captures the front side of the next set of workpiece 8 (e.g., ...). Figure 10 As shown in the figure, the system can simultaneously capture images of two sets of continuous workpieces 8, collect front and back image data of each set of workpieces 8, determine whether there are defects, and store the workpieces 8 in the system according to the order.

[0037] After the shooting is completed, the pallet 6 continues to descend along the track of the chain 15 until it runs into the reversing groove 27. At this time, the gear 32 meshes with the rack 31. As per the above logic, after the pallet 6 completes a 180-degree flip, the gear 32 disengages from the rack 31. During this process, the anti-rotation frame 19 rotates in the reversing groove 27. After the pallet 6 returns to its facing position, the fixed shaft 20 enters the passage 52 and the passage 53, and the fixed shaft 21 enters the passage 5.

[0038] S4: Material feeding and diversion.

[0039] Specifically, after image acquisition is completed, the pallet 6 descends with the chain until it reaches the position corresponding to the receiving unit 46. Then, motors 33 and 44 are activated, causing clamping blocks 34 and 35 to rotate synchronously (e.g., ...). Figure 15As shown, the opening is achieved, and at the same time, motor 2 33 stops. Motor 3 continues to drive clamping block 2 to push workpiece 8 to move, so that workpiece 8 slides smoothly down along the inclined surface of inclined block 42 and finally falls into the interior of receiving rack 41.

[0040] Furthermore, when workpiece 8 blocks the infrared light path of photoelectric switch 43, industrial robot 39 grabs workpiece 8 from receiving rack 41 and, based on the detection judgment recorded in the system, places the good product onto storage tray 48 of rotary storage unit 44. Limit block 4 ensures that workpiece 8 is located inside placement slot 49 and will not fall off. Photoelectric switch 51, which is matched with placement slot 49, detects that workpiece 8 is in place and records the storage information. When both upper and lower placement slots 49 are filled with workpiece 8, drive motor 3 operates, rotating the rotating spindle 47 to rotate the empty placement slot 49 to the receiving position. If workpiece 8 is determined to be defective (when the captured image is inconsistent with the preset standard image), industrial robot 39 directly moves the workpiece to the waste collection area (not shown in the figure) to complete the processing.

[0041] The chain 15 operates continuously and slowly in a cycle, and multiple sets of pallets 6 repeat the above steps in sequence. The feeding mechanism 1 continuously and periodically pushes the workpiece 8, thereby realizing continuous feeding and synchronous multi-group detection of the entire device, and realizing continuous automated double-sided detection of a large number of workpieces 8.

[0042] Example 2: Based on Example 1, Example 2 analyzes and adjusts the problems that occur during the actual operation of the device.

[0043] Specifically, when the image captured by camera 36 exhibits continuous shaking and motion blur, it indicates a slight relative movement between the support plate 6 and the detection unit 2 during shooting. The problem must be determined whether the relative movement is caused by a problem with the lifting assembly 3 or the detection unit 2. Stop the operation of the lifting assembly 3 and the conveyor belt 4. An alarm should alert the operator to check. Camera 36 in detection unit 2 should then take a picture while the lifting assembly 3 is stopped. If motion blur still exists, it indicates that the frame 38 and the base plate are loose, or that the camera 36 and the frame 38 are loose, causing slight shaking of the camera 36 itself. Tighten the bolts between the frame 38, camera 36, ​​and the base plate, and take another picture. If no motion blur is found, resume operation of the device. If shaking still exists, it is determined that the problem is caused by the lifting assembly 3. The staff manually pushed the pallet 6 gently and found that the shaking was gone. They then activated the lifting assembly 3 and took another picture with camera 36. However, the shaking and motion blur were still present. The tension of the chain 15 was checked and it was found that the chain 15 had worn down due to long-term operation, and the pitch of the chain 15 had lengthened. The chain 15 and the sprocket 16 meshed together, generating impact vibration, which was transmitted to the workpiece 8 on the pallet 6, causing motion blur in the captured image. The tension of the sprocket 16 was adjusted. If the chain 15 was worn too much, it was replaced until the image acquisition returned to normal.

[0044] When irregular shadows appear in the captured image, stop the operation of the lifting component 3 and the belt conveyor 4, and remind the staff to check. If multiple small scratches are found on the transparent window 35, and the workpiece 8 is a metal part, replace the transparent window 35 with a new one, and record the number of times it reaches the wear limit in the system. When the new transparent window 35 reaches the wear limit in the next cycle, remind the staff to replace it.

[0045] If there is a difference in image contrast between the front and back sides of the same set of workpieces 8, with the back image being generally darker, it may affect the identification of defects. This indicates that the light transmission performance of the transparent window 35 has changed. First, drive motors 2 (33) and 3 (3) to loosen clamping blocks 1 (34) and 2 (2), thereby removing workpiece 8 from the pallet 6. Wipe the transparent window 35 with a towel. If the clarity is restored, it indicates that there is dust adhering to it. Re-clamp the workpiece 8 and wipe each set of transparent windows 35. Verify whether it has returned to normal by comparing the contrast difference between camera 1 (36) and camera 2 (37). If it is still blurry after wiping and there is a difference in contrast, it indicates that it has been used for too long and has aged and yellowed. Replace the transparent window 35 and restore the operation of the device.

[0046] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0047] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A flexible and reconfigurable inspection system based on an industrial robot, comprising a feeding mechanism (1), an inspection unit (2), a lifting assembly (3), and a base (5), characterized in that, The loading mechanism (1), the detection unit (2), and the lifting assembly (3) are all fixedly connected to a base plate. The base plate is fixed above the base (5) by a positioning pin. A belt conveyor (4) is provided between the lifting assembly (3) and the loading mechanism (1). The detection unit (2) is located on the side of the lifting assembly (3) away from the loading mechanism (1). The lifting assembly (3) includes multiple sets of pallets (6) and multiple sets of clamping components (7). A workpiece (8) is provided above the belt conveyor (4). When the workpiece (8) is above the pallet (6), the clamping component (7) abuts against the outside of the workpiece (8). When in the detection process, the detection unit (2) can correspond to the position of the workpiece (8) above the two sets of pallets (6). The lifting assembly (3) also includes a bracket three (14), a chain (15) and two sets of sprockets (16). A motor one (17) is fixedly connected to one side of the bracket three (14). The output shaft of the motor one (17) passes through the bracket three (14) and is fixedly connected to a set of sprockets (16). The two sets of sprockets (16) are arranged vertically along the vertical axis and the other set of sprockets (16) is connected to the bracket three (14) by a bearing. A rotating shaft (18) is fixedly connected to the side of the support plate (6) near the chain (15). The rotating shaft (18) passes through the roller of the chain (15) and is connected to the bearing. The chain (15) is divided into an ascending section and a descending section along the axis of its length. The rotating shaft (18) is fixedly connected to an anti-rotation frame (19) on the side away from the tray (6). The anti-rotation frame (19) is cross-shaped and has two sets of fixed shaft one (20) and fixed shaft two (21) fixedly connected at the four vertices respectively. The two sets of fixed shaft one (20) are arranged opposite to each other and the length of fixed shaft one (20) is greater than the length of fixed shaft two (21). A gear (32) is fixedly connected to the outside of the rotating shaft (18). The gear (32) is located between the chain (15) and the anti-rotation frame (19). The bracket three (14) has a track groove (22) on the side close to the tray (6). The track groove (22) does not penetrate the bracket three (14). The fixed shaft one (20) is slidably connected to the track groove (22). The overall curve of the track groove (22) is the same as the movement trajectory of the chain (15). The track groove (22) is fixedly connected with limiting block one (23), limiting block two (24) and limiting block three (25). The limiting block two (24) is located in the center of the track groove (22) and the upper end of the limiting block two (24) corresponds to the position of motor one (17). The limiting blocks one (23), two (24) and three (25) form passage one (52), passage two (53), passage three (54) and passage four (55) with the track groove (22). When the pallet (6) carries the workpiece (8) close to the detection unit ( 2) When the two sets of fixed shafts (20) are located in passage three (54) and passage four (55) respectively, the limiting block one (23) and the limiting block three (25) are fixedly connected with two sets of protrusions (26) on the side near the chain (15), and passage five is formed between the two sets of protrusions (26). The limiting block one (23) has a reversing groove (27) along the axis of the length direction. The reversing groove (27) is connected to passage one (52) and passage two (53). When the fixed shaft one (20) is located in passage three (54) and passage four (55), the front of the workpiece (8) and the pallet (6) faces the detection unit (2).

2. The flexible and reconfigurable detection system based on an industrial robot according to claim 1, characterized in that, The feeding mechanism (1) includes a support (9), a cylinder (10), and a feeding cylinder (11). The support (9) is bolted to the top of the base plate and is adapted to the height of the belt conveyor (4). The cylinder (10) is fixedly connected to the top of the support (9). The piston rod of the cylinder (10) is fixedly connected to a push plate (12). The push plate (12) is L-shaped and has a long side and a short side. A support (13) is fixedly connected to the top of the support (9), and the support (13) is in the shape of an inverted U. The upper part of the support (13) is fixedly connected to the feeding cylinder (11). The feeding cylinder (11) is hollow inside and communicates with the inside of the support (13). The long side of the push plate (12) faces the side of the feeding cylinder (11) that is connected to the support (13). Multiple sets of workpieces (8) are arranged inside the feeding cylinder (11) and are adapted to the size of the feeding cylinder (11). When feeding is required, the piston rod of the cylinder (10) extends out and the short side of the push plate (12) abuts against a set of workpieces (8).

3. The flexible and reconfigurable detection system based on an industrial robot according to claim 2, characterized in that, A fixing plate (28) is bolted to the top of the bracket three (14). Two sets of sliding rods (29) are passed through the other end of the fixing plate (28). A rack one (30) is fixedly connected to the side of the two sets of sliding rods (29) away from the fixing plate (28). Multiple sets of springs are provided between the two sets of sliding rods (29). The two ends of each set of springs are fixedly connected to the fixing plate (28) and the rack one (30) respectively. The position of the rack one (30) corresponds to the running trajectory of the gear (32). A rack two (31) is fixedly connected to the side of the bracket three (14) away from the motor one (17). The rack two (31) is located on the side of the reversing groove (27) away from the feeding mechanism (1). The lengths of the rack one (30) and the rack two (31) are adapted to the circumference of the gear (32). When the pallet (6) runs to the top of the chain (15), the gear (32) can mesh with the rack one (30).

4. The flexible and reconfigurable detection system based on an industrial robot according to claim 3, characterized in that, The clamping component (7) includes clamping block one (34) and clamping block two. Motor two (33) and motor three are bolted to the bottom of the pallet (6). The output shaft of motor two (33) passes through the pallet (6) and is fixedly connected to clamping block one (34). Clamping block one (34) and clamping block two have the same structure and their sides are V-shaped. Motor two (33) and motor three are arranged diagonally. A transparent window (35) is provided in the center of the pallet (6). When the position of the pallet (6) corresponds to the position of the belt conveyor (4), the V-shaped side of clamping block two faces the belt conveyor (4).

5. A flexible and reconfigurable detection system based on an industrial robot according to claim 4, characterized in that, The detection unit (2) includes a camera (36), a camera (37) and a frame (38). The frame (38) is bolted to the base plate and is in an inverted L-shape. The camera (36) and camera (37) are fixed to one end of the frame (38) by a cross clamp. The positions of the camera (36) and camera (37) correspond to the positions of the support plate (6) in the rising section and the support plate (6) in the falling section, respectively. An industrial robot (39) is provided on the side of the bracket (14) away from the motor (17). The industrial robot (39) is bolted to the base plate below.

6. The flexible and reconfigurable detection system based on an industrial robot according to claim 5, characterized in that, A receiving unit (46) is provided between the support three (14) and the industrial robot (39). The receiving unit includes a support four (40) (46). The support four (40) is bolted to the base plate. A receiving rack (41) is fixedly connected above the support four (40). The receiving rack (41) is U-shaped and a wedge (42) is fixedly connected to one side of the support three (14). When the workpiece (8) needs to be unloaded, the position of the pallet (6) corresponds to the wedge (42). A photoelectric switch one (43) is fixedly connected to one side of the receiving rack (41). An opening slot is opened on one side of the receiving rack (41). The position of the opening slot corresponds to the position of the photoelectric switch one (43). When the device unloads the workpiece (8), the position of the workpiece (8) corresponds to the position of the photoelectric switch one (43).

7. A flexible and reconfigurable detection system based on an industrial robot according to claim 6, characterized in that, A rotating storage unit (44) is provided on one side of the belt conveyor (4). The rotating storage unit (44) includes a bracket (45). A motor (3) is provided inside the bracket (45). The output shaft of the motor (3) passes through the bracket (45) and is fixedly connected to a rotating spindle (47). Two sets of storage trays (48) are fixedly connected to the outer circle of the rotating spindle (47). Each set of storage trays (48) has multiple sets of placement slots (49) along the circumference. An L-shaped limiting block (50) is fixedly connected inside the placement slot (49). Multiple sets of photoelectric switches (51) are fixedly connected around the circumference above the storage trays (48). The position of each set of photoelectric switches (51) corresponds to the position of the placement slot (49).

Images