Automatic visual inspection type robot

Abstract

The utility model discloses an automatic visual inspection type robot, which belongs to the technical field of robots and comprises a robot body, a mounting plate is arranged above the robot body, a connecting block is fixed at the top of the mounting plate, a camera is rotatably arranged on the connecting block through a rotating shaft, and the rotating shaft can be driven by a motor. A motor for driving the mounting plate to rotate is also mounted on the robot body, a protective shell is fixed to the top of the mounting plate, a cleaning mechanism for wiping the surface of the camera is arranged on the protective shell, the cleaning mechanism comprises a circular shell fixed to the protective shell, and a rotating disc slides in the circular shell. According to the utility model, the air cylinder I and the air cylinder II in the cleaning mechanism work cooperatively, just like training a plain mechanical arm, the L-shaped block and the auxiliary cleaning assembly thereof can be accurately positioned in front of the camera lens, and the servo motor drives the gear I, the gear II and the rotating pipe to rotate to drive the turntable and the cleaning pad to be stably attached to the surface of the camera to rotate.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field especially relates to a kind of automatic visual inspection type robots. BACKGROUND

[0002] In today's highly automated industrial production, intelligent warehousing logistics and precision electronic product manufacturing and many key fields, automatic visual inspection type robot has become indispensable quality control and process optimization sharp tool, such robot can quickly and accurately capture product appearance details, dimensional accuracy and various dynamic information in production process by its high-resolution camera, and then determine whether product quality meets the standard in real time through complex image recognition algorithm, effectively guarantee the coherence of production link and the consistency of product quality.

[0003] However, the existing automatic visual inspection type robot exposes serious camera-related defects in actual application scene, greatly restricts its performance play and widespread popularity, the primary problem is that camera is vulnerable to dust and oil mixed stains, in industrial production workshop, such as metalworking workshop, cutting, polishing and other processes will produce massive fine metal dust and oil mixed stains, these dust and oil mixed stains diffuse at will by air flow, adhere to camera lens surface without holes, since traditional camera lacks effective cleaning structure, imaging becomes blurred when robot inspection, so that robot cannot accurately identify product features, frequent misjudgment, seriously interfere with normal production order, greatly improve the rate of defective products, bring heavy economic burden to enterprise. UTILITARY MODEL CONTENT

[0004] The utility model aims at solving the problem in prior art, lack of effective cleaning structure, imaging becomes blurred when robot inspection, so that robot cannot accurately identify product features, frequent misjudgment, seriously interfere with normal production order, greatly improve the rate of defective products, bring heavy economic burden to enterprise, and proposes a kind of automatic visual inspection type robot.

[0005] To achieve the above object, the utility model adopts the following technical scheme:

[0006] An automatic visual inspection type robot, including a robot body, the top of the robot body is provided with a mounting plate, the top of the mounting plate is fixed with a link block, the link block is rotatably provided with a camera through a rotating shaft, the rotating shaft can be driven by a motor, the robot body is also provided with a motor for driving the mounting plate to rotate, the top of the mounting plate is fixed with a protective shell, the protective shell is provided with a cleaning mechanism for wiping the surface of the camera, the cleaning mechanism includes a circular shell fixed on the protective shell, a rotating disc is slidably arranged in the circular shell, and a cleaning pad is arranged on the side surface of the rotating disc, when the cleaning pad is not used, the cleaning pad is moved into the circular shell for protection.

[0007] Preferably, the cleaning mechanism further includes an L-shaped frame fixed on the protective shell, a gas cylinder one is fixed on the side surface of the L-shaped frame, one end of the extension rod of the gas cylinder one is fixed with a moving block, the top of the moving block is fixed with a gas cylinder two, and the bottom end of the extension rod of the gas cylinder two is fixed with an L-shaped block.

[0008] Preferably, a servo motor is fixed on the L-shaped block, a gear one is fixed on the output shaft end of the servo motor, the outer surface of the gear one is engaged with a gear two, the shaft center of the gear two is fixed with a rotating pipe, the rotating pipe is rotatably connected with the L-shaped block through a bearing, and the end of the rotating pipe is communicated with the rotating disc, when the servo motor rotates, the rotating disc and the cleaning pad rotate on the surface of the camera for wiping.

[0009] Preferably, the L-shaped block is provided with an auxiliary device for intermittently extruding the cleaning pad, the auxiliary device includes a piston cylinder fixed on the L-shaped block, a piston disc is slidably arranged in the piston cylinder, the bottom of the piston disc is fixed with an extrusion rod, and the extrusion rod is slidably connected with the piston cylinder.

[0010] Preferably, the auxiliary device further includes an arc-shaped block fixed on the bottom end of the extrusion rod, a spring is sleeved on the outer surface of the extrusion rod, and the two ends of the spring are fixedly connected with the piston cylinder and the arc-shaped block respectively.

[0011] Preferably, a cam is fixed on the outer surface of the rotating pipe, the cam corresponds to the position of the arc-shaped block, the outer surface of the piston cylinder is communicated with a hose for conveying gas, the side surface of the rotating disc close to the cleaning pad is communicated with an air bag, the air bag is fixedly connected with the cleaning pad, and the end of the hose away from the piston cylinder is communicated with the rotating pipe through a rotary joint.

[0012] Compared with the prior art, the automatic visual inspection type robot has the advantages that:

[0013] 1. Through the coordinated operation of cylinders one and two in the cleaning mechanism, like a well-trained robotic arm, the L-shaped block and its associated cleaning components can be precisely positioned in front of the camera lens. The servo motor drives gear one, gear two and the rotating tube to rotate, causing the turntable and cleaning pad to steadily fit the camera surface and rotate, achieving a wiping action without dead angles, ensuring that every inch of the lens area can be effectively cleaned.

[0014] 2. The ingenious design of the auxiliary device provides a powerful boost to the cleaning effect, further extending the service life of the camera and the entire robot system. When the rotating tube rotates, the fixed cam and the arc-shaped block work together to intermittently squeeze the cleaning pad. When the cam protrusion touches the arc-shaped block, the squeezing rod pushes the piston disc to move down in the piston cylinder. Compressed air rushes to the air bladder at the turntable through the connecting pipe, making the cleaning pad fit tightly against the lens, enhancing the wiping force, and effectively removing stubborn stains and fine particles. When the cleaning pad rises, the air bladder expands intermittently, and the tension can also shake off the dust adhering to the cleaning pad after wiping, improving the cleaning effect. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of an automatic visual inspection robot proposed in this utility model;

[0016] Figure 2 This is a schematic diagram of the camera structure of an automatic visual inspection robot proposed in this utility model;

[0017] Figure 3 This is a side view of the circular shell structure of an automatic visual inspection robot proposed in this utility model.

[0018] Figure 4 This utility model proposes an automatic visual inspection robot. Figure 3 Enlarged schematic diagram of the structure at point A in the middle.

[0019] In the diagram: 1. Robot body; 2. Mounting plate; 3. Connecting block; 4. Camera; 5. Protective shell; 61. Circular shell; 62. L-shaped frame; 63. Cylinder 1; 64. Moving block; 65. Cylinder 2; 66. L-shaped block; 671. Servo motor; 672. Gear 1; 673. Gear 2; 674. Rotary tube; 675. Turntable; 676. Cleaning pad; 71. Piston cylinder; 72. Piston disc; 73. Extrusion rod; 74. Arc-shaped block; 75. Spring; 76. Cam; 77. Airbag; 78. Hose. Detailed Implementation

[0020] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all the other embodiments obtained by those skilled in the art without creative labor fall within the scope of the present application.

[0021] Embodiment one

[0022] With reference to Figures 1-4 The automatic visual inspection robot comprises a robot body 1, an installation plate 2 arranged above the robot body 1, a connecting block 3 fixed to the top of the installation plate 2, a camera 4 rotatably arranged on the connecting block 3 through a rotating shaft, the rotating shaft being driven by a motor, a motor for driving the installation plate 2 to rotate being arranged on the robot body 1, a protective shell 5 fixed to the top of the installation plate 2, a cleaning mechanism arranged on the protective shell 5 for wiping the surface of the camera 4, the cleaning mechanism comprising a circular shell 61 fixed to the protective shell 5, a rotating disc 675 slidably arranged in the circular shell 61, and a cleaning pad 676 arranged on the side surface of the rotating disc 675, the cleaning pad 676 being moved into the circular shell 61 for protection when not in use.

[0023] Further, the cleaning mechanism further comprises an L-shaped frame 62 fixed to the protective shell 5, a cylinder 63 fixed to the side surface of the L-shaped frame 62, a moving block 64 fixed to one end of the extension rod of the cylinder 63, a cylinder 65 fixed to the top of the moving block 64, and an L-shaped block 66 fixed to the bottom end of the extension rod of the cylinder 65.

[0024] Further, a servo motor 671 is fixed to the L-shaped block 66, a gear 672 is fixed to the output shaft end of the servo motor 671, a gear 673 is engaged with the outer surface of the gear 672, a rotating pipe 674 is fixed to the shaft center of the gear 673, the rotating pipe 674 is rotatably connected to the L-shaped block 66 through a bearing, and the end of the rotating pipe 674 is communicated with the rotating disc 675, so that when the servo motor 671 rotates, the rotating disc 675 and the cleaning pad 676 are driven to rotate on the surface of the camera 4 for wiping.

[0025] In use, the orientation of the camera 4 can be adjusted by rotating the motor-driven mounting plate 2 and the adapter block 3, which facilitates visual inspection of different parts of the workshop. This is prior art and will not be described in detail here. After the workshop has been in operation for some time, the camera 4 lens will inevitably become covered with a mixture of dust and oil stains, affecting the accuracy of visual inspection. At this time, the cleaning mechanism is activated. The cylinder one 63 on the side of the L-shaped frame 62 fixed to the protective shell 5 acts first. Its extension rod smoothly extends, pushing the moving block 64 connected to it to accurately displace. Then, the cylinder two 65 at the top of the moving block 64 acts, driving the L-shaped block 66 to fall vertically, so that the servo motor 671, the rotating tube 674, and the rotating disc 675, etc. components mounted on the L-shaped block 66 are accurately positioned in front of the camera 4.

[0026] Subsequently, the servo motor 671 is energized and rotates at high speed. The gear one 672 fixed at the end of the motor output shaft tightly engages the gear two 673, driving the rotating tube 674 to smoothly rotate. The rotating disc 675 connected to the end of the rotating tube 674 rotates synchronously. The cleaning pad 676 on the side of the rotating disc 675 tightly adheres to the surface of the camera 4 lens to wipe it evenly in all directions. In just a few minutes, the thick metal dust and oil stains on the lens are swept away, the lens restores high light transmittance, the robot visual inspection function instantly recovers to the best state, accurately identifies product features, and accurately screens out defective products. The production order is well-organized, effectively avoiding misjudgment caused by blurred imaging, significantly reducing the rate of defective products, and recovering economic losses caused by quality problems for the enterprise. When not in use, the cleaning pad 676 can be moved into the circular shell 61 for protection to avoid dust adhering to the cleaning pad 676.

[0027] It should be noted that a PLC controller can be installed on the robot body 1 and electrically connected to the cylinder one 63, the cylinder two 65, and the servo motor 671 for convenient timing cleaning.

[0028] Based on example one, example two is proposed:

[0029] Refer to Figures 1-4 Further, the L-shaped block 66 is provided with an auxiliary device for intermittently extruding the cleaning pad 676. The auxiliary device includes a piston cylinder 71 fixed to the L-shaped block 66. A piston disc 72 slides in the piston cylinder 71. The bottom of the piston disc 72 is fixed with an extrusion rod 73, and the extrusion rod 73 is slidingly connected with the piston cylinder 71.

[0030] Further, the auxiliary device further includes an arc-shaped block 74 fixed to the bottom end of the extrusion rod 73. A spring 75 is sleeved on the outer surface of the extrusion rod 73, and the two ends of the spring 75 are fixedly connected with the piston cylinder 71 and the arc-shaped block 74, respectively.

[0031] Further, the outer surface of the rotating tube 674 is fixed with a cam 76 corresponding to the position of the arc-shaped block 74, the outer surface of the piston cylinder 71 is communicated with a hose 78 for conveying gas, the side of the rotating disc 675 close to the cleaning pad 676 is communicated with an air bag 77, the air bag 77 is fixedly connected with the cleaning pad 676, and the end of the hose 78 away from the piston cylinder 71 is communicated with the rotating tube 674 through a rotary joint.

[0032] With the advancement of the robot work process, when the camera 4 needs to be cleaned, the cleaning mechanism first sends the cleaning pad 676 to the lens position, and at the same time, the rotating tube 674 in the auxiliary device rotates synchronously with the cleaning action, the cam 76 fixed on the outer surface of the rotating tube 674 continuously rotates, and every time the protruding part of the cam 76 touches the arc-shaped block 74, the extrusion rod 73 quickly pushes the piston disc 72 to move upward in the piston cylinder 71, the air in the piston cylinder 71 is quickly filled into the air bag 77 communicated on the side of the rotating disc 675 through the passage composed of the hose 78, the rotary joint and the rotating tube 674, the air bag 77 is instantaneously inflated, and the cleaning pad 676 is strongly extruded to tightly adhere to the lens, so that stubborn sugar stains, facial dirt and other stains are deeply removed, the lens is ensured to be clean, and the cleaning effect is improved by intermittently making the air bag 77 swell and using different extrusion forces in staggered use.

[0033] Especially, at the moment when the cleaning pad 676 completes wiping and lifting, the air bag 77 will be intermittently inflated and contracted due to the change of internal air pressure and the elastic property of the air bag 77, and by using the tensile change, the residual fine particles adhered to the cleaning pad 676 are successfully shaken off, the cleaning pad 676 is self-cleaned, the cleaning pad 676 always maintains good cleaning ability, the service life of the cleaning pad 676 is greatly prolonged, the equipment maintenance frequency is reduced, the camera 4 is stably worked for a long time, the operation reliability of the whole robot system is improved, and the food processing and production are efficiently and orderly carried out.

[0034] The above describes only the preferred specific implementation manner of the present application, but the protection scope of the present application is not limited to this, any skilled person in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. An automatic vision inspection robot comprising a robot body (1), characterized in that, The upper portion of the robot body (1) is provided with a mounting plate (2), the top of the mounting plate (2) is fixedly provided with a connecting block (3), a camera (4) is rotatably arranged on the connecting block (3) through a rotating shaft, the rotating shaft can be driven by a motor, a motor for driving the mounting plate (2) to rotate is also arranged on the robot body (1), the top of the mounting plate (2) is fixedly provided with a protective shell (5), the protective shell (5) is provided with a cleaning mechanism for wiping the surface of the camera (4), the cleaning mechanism comprises a circular shell (61) fixedly arranged on the protective shell (5), a rotating disc (675) is slidably arranged in the circular shell (61), a cleaning pad (676) is arranged on the side surface of the rotating disc (675), when the cleaning pad (676) is not used, the cleaning pad (676) is moved into the circular shell (61) for protection.

2. A robotic machine of the automated vision inspection type according to claim 1, characterized in that, The cleaning mechanism further comprises an L-shaped frame (62) fixedly arranged on the protective shell (5), a gas cylinder I (63) is fixedly arranged on the side surface of the L-shaped frame (62), one end of the extension rod of the gas cylinder I (63) is fixedly provided with a moving block (64), the top of the moving block (64) is fixedly provided with a gas cylinder II (65), the bottom end of the extension rod of the gas cylinder II (65) is fixedly provided with an L-shaped block (66).

3. A robotic machine of the automated vision inspection type according to claim 2, characterized in that, A servo motor (671) is fixedly arranged on the L-shaped block (66), the output shaft end of the servo motor (671) is fixedly provided with a gear I (672), the outer surface of the gear I (672) is engaged with a gear II (673), the shaft center of the gear II (673) is fixedly provided with a rotating pipe (674), the rotating pipe (674) is rotatably connected with the L-shaped block (66) through a bearing, the end portion of the rotating pipe (674) is communicated with the rotating disc (675), when the servo motor (671) rotates, the rotating disc (675) and the cleaning pad (676) are driven to rotate on the surface of the camera (4) for wiping.

4. A robot of the automatic vision inspection type according to claim 3, characterized in that, An auxiliary device for intermittently extruding the cleaning pad (676) is arranged on the L-shaped block (66), the auxiliary device comprises a piston cylinder (71) fixedly arranged on the L-shaped block (66), a piston disc (72) is slidably arranged in the piston cylinder (71), the bottom of the piston disc (72) is fixedly provided with an extrusion rod (73), the extrusion rod (73) is slidably connected with the piston cylinder (71).

5. A robotic machine of the automated vision inspection type according to claim 4, characterized in that, The auxiliary device further comprises an arc-shaped block (74) fixedly arranged at the bottom end of the extrusion rod (73), a spring (75) is sleeved on the outer surface of the extrusion rod (73), the two ends of the spring (75) are fixedly connected with the piston cylinder (71) and the arc-shaped block (74) respectively.

6. A robotic machine of the automated vision inspection type according to claim 5, characterized in that, The outer surface of the rotating pipe (674) is fixedly provided with a cam (76), the cam (76) corresponds to the position of the arc-shaped block (74), the outer surface of the piston cylinder (71) is communicated with a hose (78) for conveying gas, the side surface of the rotating disc (675) close to the cleaning pad (676) is communicated with an air bag (77), the air bag (77) is fixedly connected with the cleaning pad (676), one end of the hose (78) away from the piston cylinder (71) is communicated with the rotating pipe (674) through a rotary joint.

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