Visual system with positioning and detection functions

Abstract

The utility model relates to a visual system for positioning and detection, in particular to the technical field of steel drum detection equipment. Comprising a steel drum conveying line, an adjusting mechanism, a camera, a steel drum blocking device, a supporting table, a conveying chain, a sweeping mechanism, a turnover cover positioning mechanism and a four-axis robot. The problem that the machining cost is high due to the fact that a manual placing mode is adopted in the placing process of the turnover cover of the steel drum at present is solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to steel drum detection equipment technical field, especially positioning and detection's vision system. BACKGROUND

[0002] Steel drum is a cylindrical container made of steel, usually used for storing or transporting liquid, powder, particles and other substances, and the turnover cover of the steel drum is an important accessory in use, and correct selection and use can improve the sealing, safety and service life of the steel drum. At present, the turnover cover of the steel drum is mainly placed by manual placement during placement, and the cost is relatively high. CONTENT OF THE UTILITY MODEL

[0003] (1) technical problem to be solved

[0004] The utility model provides a kind of positioning and detection's vision system, overcome the problem that the turnover cover of current steel drum is relatively high in cost in the process of placement, and is placed by manual placement.

[0005] (2) technical scheme

[0006] In order to solve the above technical problems, the utility model provides a kind of positioning and detection's vision system, including steel drum conveying line, adjusting mechanism, camera, steel drum blocking device, support table, conveying chain, cleaning mechanism, turnover cover positioning mechanism, four-axis robot;

[0007] The steel drum conveying line is conveyed with steel drum;The first support and the second support are provided on the steel drum conveying line along the conveying direction;Laser ranging sensor is provided on the first support;The mounting plate is connected to the second support through the adjusting mechanism;The camera and light source are provided below the mounting plate;The steel drum blocking device is provided below the steel drum conveying line;The support table is provided on one side of the steel drum conveying line;The outer end of the support table is provided with large turnover cover vibration disc and small turnover cover vibration disc;The large turnover cover vibration disc, the small turnover cover vibration disc and the outer end of the support table are connected by the conveying chain;Large turnover cover and small turnover cover are conveyed on two different conveying chains respectively;The cleaning mechanism is provided above the conveying chain;The turnover cover positioning mechanism is provided at the end of the conveying chain;The four-axis robot is provided on the right side of the support table;The output end of the four-axis robot is provided with rotating cross bar;The inner support jig is provided at the bottom of the rotating cross bar.

[0008] Preferably, the adjusting mechanism includes chute, screw rod, rotating motor;

[0009] The second support is internally provided with the sliding groove; the screw rod is rotatably installed in the sliding groove; the top of the second support is provided with the rotating motor, and the output end of the rotating motor is connected with the screw rod; the moving block is threadedly connected on the screw rod, and the moving block is fixedly connected with the mounting plate.

[0010] Preferably, the steel drum blocking device comprises a steel drum blocking device cylinder and a blocking plate; the bottom of the steel drum conveying line is provided with the steel drum blocking device cylinder; the connecting rod of the steel drum blocking device cylinder is connected with the blocking plate.

[0011] Preferably, the cleaning mechanism comprises a blowing rod, a blowing hole and a cleaning wheel.

[0012] The upper end of the conveying chain is provided with the blowing rod in inverted U shape; the bottom of the blowing rod is provided with the blowing hole; the two sides of the conveying chain are provided with the cleaning wheel for cleaning the turnover cover; the end of the conveying chain is also provided with the cleaning wheel for cleaning the bottom of the turnover cover.

[0013] Preferably, the turnover cover positioning mechanism comprises a discharging block, a sliding groove, a positioning cylinder and a push block.

[0014] The discharging block is located above the support table and in the discharging direction of the conveying chain; the discharging block and the conveying chain are vertically placed; the inside of the discharging block is provided with the sliding groove; the support table is provided with the positioning cylinder; the connecting rod of the positioning cylinder is connected with the push block.

[0015] (3)Beneficial effects

[0016] The utility model provides a kind of positioning and detection visual system, overcome the turnover cover of current steel drum in the process of placing, and the problem of relatively high processing cost using artificial placement mode.

[0017] 1, the utility model discloses a kind of turnover cover of automatic discharging, and four-axis robot is placed above steel drum with different sizes in matching use, avoid the problem of relatively high processing cost of artificial placement turnover cover mode. DRAWINGS

[0018] Fig. 1 It is a structure schematic view of the positioning and detection visual system of the utility model;

[0019] Fig. 2 It is a structure schematic view of the support table in the utility model;

[0020] Fig. 3 It is a structure schematic view of the four-axis robot in the utility model;

[0021] Fig. 4The utility model discloses a steel drum blocking device's structure schematic view;

[0022] Fig. 5 The utility model discloses an adjusting mechanism's structure schematic view;

[0023] Reference Signs: 1-steel 6 drum conveying line, 2-steel drum, 3-laser ranging sensor, 4-adjusting mechanism, 41-slideway, 42-screw rod, 43-rotary motor, 5-mounting plate, 6-camera, 7-light source, 8-steel drum blocking device, 81-steel drum blocking device air cylinder, 82-blockade board, 9-supporting table, 10-large turnover cover vibration dish, 11-small turnover cover vibration dish, 12-conveying chain, 13-sweeping mechanism, 131-blowing rod, 132-blowing hole, 133-sweeping wheel, 14-turnover cover positioning mechanism, 141-discharge block, 142-sliding recess, 143-positioning air cylinder, 144-push block, 15-four-axis robot, 16-rotary cross bar, 17-inner support fixture. DETAILED DESCRIPTION

[0024] The utility model makes further explanation in combination with the drawings and examples.

[0025] As Figs. 1-5 The utility model discloses a kind of positioning and detecting visual system, including steel drum conveying line 1, adjusting mechanism 4, camera 6, steel drum blocking device 8, supporting table 9, conveying chain 12, sweeping mechanism 13, turnover cover positioning mechanism 14, four-axis robot 15;

[0026] The steel drum conveying line 1 is provided with a steel drum 2; two different size holes are formed on the steel drum 2; the steel drum conveying line is provided with a first support and a second support along the conveying direction; the first support is provided with a laser ranging sensor 3; the second support is connected with a mounting plate 5 through an adjusting mechanism 4; the mounting plate 5 is provided with a camera 6 and a light source 7 below; the steel drum conveying line is provided with a steel drum blocking device 8 below; the steel drum conveying line is provided with a support table 9 on one side; the outer end of the support table 9 is provided with a large turnover cover vibration disc 10 and a small turnover cover vibration disc 11; the large turnover cover vibration disc 10, the small turnover cover vibration disc 11 and the outer end of the support table 9 are connected through the conveying chain 12; in the working process, first, the vibration disc starts to vibrate to convey the turnover cover in a direction to the stainless steel chain, when there is no full material signal at the conveying end, the conveying chain 12 starts to run to push the turnover cover to the next station, and then the full material signal is detected again, if there is, the conveying stops, if not, it continues to the next station; the large turnover cover and the small turnover cover are conveyed on the two different conveying chains 12 respectively; the conveying chain 12 is provided with a cleaning mechanism 13 above; the end of the conveying chain 12 is provided with a turnover cover positioning mechanism 14; the right side of the support table 9 is provided with a four-axis robot 15; the four-axis robot 15 is prior art and will not be described in detail here: the output end of the four-axis robot 15 is provided with a rotating cross rod 16; the bottom of the rotating cross rod 16 is provided with an inner support jig 17; the center distance of the two inner support jigs 17 is consistent with the center distance of the large and small holes of the steel drum 2.

[0027] The adjusting mechanism 4 comprises a sliding groove 41, a screw rod 42 and a rotating motor 43;

[0028] The second support is provided with the sliding groove 41; the screw rod 42 is rotatably installed in the sliding groove 41; the top of the second support is provided with the rotating motor 43, and the output end of the rotating motor 43 is connected with the screw rod 42; the screw rod 42 is threadedly connected with a moving block, and the moving block is fixedly connected with the mounting plate 5.

[0029] The steel drum blocking device 8 comprises a steel drum blocking device cylinder 81 and a blocking plate 82; the bottom of the steel drum conveying line is provided with the steel drum blocking device cylinder 81; the connecting rod of the steel drum blocking device cylinder 81 is connected with the blocking plate 82.

[0030] The cleaning mechanism 13 comprises a blowing rod 131, a blowing hole 132 and a cleaning wheel 133;

[0031] The upper end of the conveying chain 12 is provided with the blow rod 131 in inverted U shape; the bottom of the blow rod 131 is provided with the blow hole 132; the conveying chain 12 is provided with the cleaning wheel 133 on both sides for cleaning the turnover cover; the cleaning wheels 133 on both sides are installed at the stopping position of the turnover cover, and the clockwise rotation of the cleaning wheels 133 drives the counterclockwise rotation of the turnover cover, so that the side surface is cleaned in a whole circle; after the cleaning is completed, the blow hole 132 blows out air to blow off the surface dust of the turnover cover; the end of the conveying chain 12 is also provided with the cleaning wheel 133 for cleaning the bottom of the turnover cover; after the turnover cover is sent out by the chain, it enters the non-powered conveying section, and is pushed forward by the subsequent discharge cover; when passing through the bottom opening position, the cleaning wheel 133 installed at the bottom cleans the bottom of the turnover cover, and thus the cleaning of the turnover cover is completed.

[0032] The turnover cover positioning mechanism 14 comprises a discharge block 141, a sliding groove 142, a positioning cylinder 143 and a push block 144.

[0033] The discharge block 141 is located above the support table 9 and in the discharge direction of the conveying chain 12; the discharge block 141 and the conveying chain 12 are vertically placed; the discharge block 141 is internally provided with the sliding groove 142 for the sliding of the turnover cover; the support table 9 is provided with the positioning cylinder 143; after the cleaning work of the turnover cover is completed, the conveying chain 12 stops conveying after the full material signal is detected; the positioning cylinder 143 pushes the turnover cover to the grabbing position in the transverse direction, and the cover is positioned; the connecting rod of the positioning cylinder 143 is connected with the push block 144; the push block 144 is mainly used for pushing the turnover cover sliding in the sliding groove 142, so that the turnover cover can be pushed to the appropriate position, and then the four-axis robot 15 is used for grabbing work; after the robot receives the positioning completion signal of the turnover cover, the robot grabs the large and small turnover covers at the same time; the center distance of the positioning of the turnover cover, the center distance of the grabbing inner support jig 17 and the center distance of the large and small holes of the steel drum 2 are consistent.

[0034] Working principle: the turnover cover is sent out by the large turnover cover vibration disc 10 and the small turnover cover vibration disc 11, and then enters the conveying chain 12; the push cover optical axis is fixed on the two side bending plates of the conveying chain 12, and one work position is conveyed each time. During the conveying process, the micro motor installed on both sides of the chain drives the cleaning wheel 133 to rotate, and the paint residues and other impurities adhered to the side surface of the cover are cleaned; after the cleaning, the surface dust is blown off by compressed air; after the cover is sent out from the conveying chain 12, the cover is pushed forward by the subsequent discharge cover; during the forward movement, the bottom of the cover is cleaned by the cleaning wheel 133 installed at the bottom.

[0035] After the cleaning of the turnover cover is completed, the robot simultaneously grabs the large and small turnover covers and then waits above the steel drum conveying line 1 side, the steel drum 2 triggers the laser ranging sensor 3 before entering the turnover cover placing station, reads the height information of the steel drum 2, automatically adjusts the height of the vision camera 6 through the height adjusting mechanism 4, ensures that the vertical distance error between the steel drum 2 and the camera 6 is within ±0.2mm, and compensates for the problem of unclear vision imaging caused by the inconsistency of the height of the steel drum 2; when the steel drum 2 is conveyed to the turnover cover placing station, it is positioned by the steel drum blocking device cylinder 81, the camera 6 and the light source 7 fixed above the steel drum 2 take pictures and send position information to the robot, and the robot accurately places the turnover cover in the large and small holes. The contents not described in detail in the specification belong to the prior art known to those skilled in the art.

[0036] The above-described embodiments only express the preferred embodiments of the present application, and the description is more specific and detailed, but the present application is not limited to these embodiments. It should be pointed out that for those skilled in the art. Any improvement made without departing from the purpose of the present application falls within the protection scope of the present application. Therefore, the protection scope of the present application patent should be subject to the appended claims.

Claims

1. A vision system for positioning and detection, characterized in that, Includes a steel drum conveyor line (1), an adjustment mechanism (4), a camera (6), a steel drum blocking device (8), a support table (9), a conveyor chain (12), a cleaning mechanism (13), a turnover cover positioning mechanism (14), and a four-axis robot (15); Steel drums (2) are conveyed on the steel drum conveyor line (1); the steel drum (2) conveyor line is provided with a first support and a second support along the conveying direction; a laser rangefinder sensor (3) is provided on the first support; an mounting plate (5) is connected above the second support through the adjustment mechanism (4); a camera (6) and a light source (7) are provided below the mounting plate (5); a steel drum blocking device (8) is provided below the steel drum (2) conveyor line; a support table (9) is provided on one side of the steel drum (2) conveyor line; a large turnover cover vibrating plate (10) and a small turnover cover vibrating plate (11) are provided at the outer end of the support table (9); the large turnover cover vibrating plate (10) and the small turnover cover vibrating plate (11) are provided at the outer end of the support table (9); the large turnover cover vibrating plate (10) and the small turnover cover vibrating plate (11) are provided at the outer end of the support table (9); the large turnover cover vibrating plate (10) and the small turnover cover vibrating plate (11) are provided at the outer end of the support table (10 ... A conveyor chain (12) is provided between the outer ends of the rotating cover vibrating plate (10), the small rotating cover vibrating plate (11), and the support table (9); a large rotating cover and a small rotating cover are respectively conveyed on the two different conveyor chains (12); a cleaning mechanism (13) is provided above the conveyor chain (12); a rotating cover positioning mechanism (14) is provided at the end of the conveyor chain (12); a four-axis robot (15) is provided on the right side of the support table (9); a rotating crossbar (16) is provided at the output end of the four-axis robot (15); an inner support fixture (17) is provided at the bottom of the rotating crossbar (16).

2. The vision system for positioning and detection according to claim 1, characterized in that, The adjustment mechanism (4) includes a slide (41), a screw (42), and a rotating motor (43); The second bracket has a groove (41) inside; the screw (42) is rotatably installed in the groove (41); the top of the second bracket has a rotating motor (43), and the output end of the rotating motor (43) is connected to the screw (42); a moving block is threaded onto the screw (42), and the moving block is fixedly connected to the mounting plate (5).

3. The vision system for positioning and detection according to claim 1, characterized in that, The steel drum blocking device (8) includes a steel drum blocking device cylinder (81) and a blocking plate (82); the steel drum conveyor line (1) is provided with the steel drum blocking device cylinder (81) at the bottom; the connecting rod of the steel drum blocking device cylinder (81) is connected to the blocking plate (82).

4. A vision system for positioning and detection according to claim 1, characterized in that, The cleaning mechanism (13) includes an air blowing rod (131), an air blowing hole (132), and a cleaning wheel (133); The upper end of the conveyor chain (12) is provided with an inverted U-shaped air blower (131); the bottom of the air blower (131) is provided with an air blower hole (132); the two sides of the conveyor chain (12) are provided with cleaning wheels (133) for cleaning the turnover cover; the end of the conveyor chain (12) is also provided with a cleaning wheel (133) for cleaning the bottom of the turnover cover.

5. A vision system for positioning and detection according to claim 1, characterized in that, The turnover cover positioning mechanism (14) includes a discharge block (141), a sliding groove (142), a positioning cylinder (143), and a push block (144); The discharge block (141) is located above the support table (9) and in the discharge direction of the conveyor chain (12); the discharge block (141) and the conveyor chain (12) are placed vertically; the discharge block (141) has a sliding groove (142) inside; the support table (9) is provided with a positioning cylinder (143); the connecting rod of the positioning cylinder (143) is connected to the push block (144).

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