Appearance detection device for intelligent robot shell manufacturing

Abstract

The utility model discloses an appearance detection device for manufacturing an intelligent robot shell, and relates to the technical field of robot shell detection, the appearance detection device comprises a conveying frame and a controller, the upper surface of the conveying frame is fixedly connected with two connecting frames, a protective shell is rotatably connected between the two connecting frames, and an industrial camera for detection is fixedly installed in the protective shell; when the industrial camera rotates, the two limiting blocks are separated from the clamping connection with two groups of limiting grooves formed in the protective shell, the protective shell can drive the fixed industrial camera to rotate after the limiting is opened, and after the industrial camera rotates to a required angle, the limiting blocks are driven to reset through the elastic force of the reset springs, so that the protective shell and the connecting frame are in a fixed state; when a robot shell with a complex curved surface or an irregular shape is detected, the angle of the industrial camera is adjusted, so that the lens of the industrial camera and the detected surface can be kept perpendicular to each other as far as possible or are in a proper angle relationship, and image distortion caused by perspective deformation or oblique shooting is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot shell detection technical field, especially relate to a appearance detection device for intelligent robot shell manufacturing. BACKGROUND

[0002] The appearance detection device for intelligent robot shell manufacturing is a key equipment for ensuring the quality of robot shell and plays an important role in the production process of robots. Its main function is to comprehensively and carefully detect the appearance of the robot shell to ensure that the shell meets strict quality standards and has no defects affecting the performance and appearance of the product. In modern manufacturing, with the continuous expansion of robot application scenarios and the increasing demand of consumers for product quality, the quality control of intelligent robot shell becomes increasingly important.

[0003] The appearance detection device for intelligent robot shell manufacturing usually includes the following key parts:

[0004] 1. Mechanical structure assembly: The conveying system is responsible for conveying the robot shell to be detected to the detection area one by one, generally composed of a conveyor belt, a roller, etc.

[0005] 2. Visual detection module: An industrial camera is responsible for shooting images of the robot shell. To obtain clear and comprehensive images, a high-resolution and high-frame-rate camera is usually selected.

[0006] 3. Control system hub: The PLC controller coordinates the cooperative work of each component, precisely controls the speed of the conveying system, the action of the positioning mechanism, and the shooting and processing process of the visual detection part.

[0007] Currently, to achieve efficient and accurate detection of the appearance of intelligent robot shell, manufacturers use a variety of detection devices and technical means. Some manufacturers use fixed detection devices, with fixed camera positions, trying to cover all surfaces of the shell by setting multiple cameras at different angles. Some manufacturers use detection assembly lines with high automation, using preset programs to control the camera to shoot and detect. Some manufacturers use high-precision 3D detection technology to construct a three-dimensional model of the shell to assist in detection.

[0008] However, the above existing implementation still has the following problems. During detection, due to the complex shape of the robot shell, for the shell with complex curved surface or irregular shape, the camera at the fixed position is prone to image distortion due to perspective distortion or oblique shooting when shooting, resulting in large error in size measurement and defect positioning, seriously affecting the detection accuracy, that is, it is difficult to effectively reduce the distortion error. In view of this problem, a solution is proposed, and an appearance detection device for intelligent robot shell manufacturing is designed, which can effectively reduce the distortion error and flexibly adjust the camera position. The device is easy to operate, can quickly adjust the camera position according to different detection requirements, significantly reduces the distortion error by optimizing the shooting angle and position of the camera, improves the detection accuracy, and meets the diversified production detection requirements. Utility model content

[0009] In view of the deficiencies of the prior art, the utility model provides an appearance detection device for intelligent robot shell manufacturing, solves the problem that due to the complex shape of the robot shell, for the shell with complex curved surface or irregular shape, the camera at the fixed position is prone to image distortion due to perspective distortion or oblique shooting when shooting, resulting in large error in size measurement and defect positioning, seriously affecting the detection accuracy, that is, it is difficult to effectively reduce the distortion error.

[0010] In order to achieve the above purpose, the utility model is realized by the following technical scheme:

[0011] An appearance detection device for intelligent robot shell manufacturing, including conveying frame and controller, the conveying frame upper surface is fixedly connected with two connecting frames, two connecting frames are rotatably connected with the protective shell, the protective shell is fixedly installed with the industrial camera for detection, two connecting frame upper surfaces are fixedly connected with the connecting block, the connecting block lower surface is equipped with two grooves, two grooves are all movably connected with the limit block, two limit block upper surfaces are all fixedly connected with the reset spring and connecting rod, the conveying frame upper surface is fixedly connected with the fixed plate, the fixed plate is rotatably connected with the lead screw, the lead screw left surface is fixedly connected with the rocker, the protective shell surface is equipped with two sets of limit slots, two sets of limit slots are movably connected with two limit blocks respectively.

[0012] Preferably, two reset springs are movably sleeved with two connecting rods respectively, two reset springs are fixedly connected with two grooves respectively, and two connecting rod upper surfaces are fixedly connected with the handle.

[0013] Preferably, the lead screw is threadedly sleeved with the connecting frame located in front of the two connecting frames, two connecting frame lower surfaces are all fixedly connected with the pulley, the conveying frame upper surface is equipped with two clamping grooves, and two clamping grooves are slidably connected with two pulleys respectively.

[0014] Compared with the prior art, the utility model has the following beneficial effects:

[0015] 1, after industrial camera rotates to required angle, the elastic force of reset spring drives limit block to reset, makes the fixed state of protective shell and connecting frame, when detecting the robot shell with complex curved surface or irregular shape, through adjusting the angle of industrial camera, can make industrial camera lens and detected surface keep perpendicular or be in suitable angle relation as far as possible, thereby reduce the image distortion caused by perspective distortion or inclined shooting, improve the precision of size measurement and defect positioning.

[0016] 2, the movement of connecting frame will drive the industrial camera arranged thereon to move, and then adjust the position of the industrial camera, on the automatic production line, the conveying speed and position of the robot shell can have certain fluctuation, the position of the industrial camera can be adjusted, so that the detection system can be adjusted according to the actual situation of the production line, to ensure that each shell can be accurately detected under different production rhythm, improve the automation degree and stability of the whole production line. BRIEF DESCRIPTION OF DRAWINGS

[0017] The above description is only a summary of the technical scheme of the utility model, in order to more clearly understand the technical means of the utility model, and can be implemented according to the content of the specification, the following preferred embodiments of the utility model are described in detail below.

[0018] Figure 1 It is the overall structural drawing of the utility model;

[0019] Figure 2 It is the connecting frame structure drawing of the utility model;

[0020] Figure 3 It is the connecting block structure drawing of the utility model;

[0021] Figure 4 It is the limit block structure drawing of the utility model.

[0022] Legend: 1, conveying frame;2, controller;3, connecting frame;5, clamping groove;6, screw;7, fixed plate;8, rocker;9, pulley;10, connecting block;11, protective shell;12, industrial camera;13, limit groove;14, handle;15, connecting rod;16, reset spring;17, limit block. DETAILED DESCRIPTION

[0023] The embodiment of the application provides an appearance detection device for intelligent robot shell manufacturing, effectively solves the problem that due to the complex and various shapes of robot shells, for the shells with complex curved surfaces or irregular shapes, the fixed position camera is prone to image distortion due to perspective distortion or inclined shooting when shooting, which leads to large errors in size measurement and defect positioning, seriously affects the detection precision, that is, it is difficult to effectively reduce the distortion error, designs an appearance detection device for intelligent robot shell manufacturing which can effectively reduce the distortion error and the camera position is convenient to flexibly adjust, the device is simple to operate, the camera position can be quickly adjusted according to different detection requirements, the distortion error is significantly reduced by optimizing the shooting angle and position of the camera, the detection precision is improved, and the diversified production detection requirements are met.

[0024] Embodiment

[0025] As Figure 1 , Figure 2 , Figure 3 and Figure 4 indicate that the technical scheme in the embodiment of the application effectively solves the technical problem that due to the complex and various shapes of robot shells, for the shells with complex curved surfaces or irregular shapes, the fixed position camera is prone to image distortion due to perspective distortion or inclined shooting when shooting, which leads to large errors in size measurement and defect positioning, seriously affects the detection precision, that is, it is difficult to effectively reduce the distortion error, and the general idea is as follows:

[0026] In view of the problems in the prior art, the utility model provides an appearance detection device for intelligent robot shell manufacturing, which comprises a conveying frame 1 and a controller 2, two connecting frames 3 are fixedly connected to the upper surface of the conveying frame 1, a protective shell 11 is rotatably connected between the two connecting frames 3, an industrial camera 12 for detection is fixedly installed in the protective shell 11, a connecting block 10 is fixedly connected to the upper surface of the two connecting frames 3, two grooves are formed in the lower surface of the connecting block 10, a limiting block 17 is movably clamped in each groove, a connecting rod 15 and a return spring 16 are fixedly connected to the upper surface of each limiting block 17, a fixed plate 7 is fixedly connected to the upper surface of the conveying frame 1, a lead screw 6 is rotatably connected in the fixed plate 7, a rocker 8 is fixedly connected to the left surface of the lead screw 6, two sets of limiting grooves 13 are formed in the surface of the protective shell 11, and the two sets of limiting grooves 13 are movably clamped with the two limiting blocks 17 respectively; in the use process, the robot shell enters the detection area through the conveying frame 1, the industrial camera 12 shoots the image of the shell and transmits it to an image processing unit, the image processing unit analyzes and processes the image by using an algorithm, compares it with a standard image or parameter, judges whether the shell has appearance defects, displays the detection result and related information on a man-machine interaction interface, and moves the two limiting blocks 17 fixedly by pulling the handle 14 upwards, compresses the return spring 16, at this time, the two limiting blocks 17 will be separated from the clamping of the two sets of limiting grooves 13 formed in the protective shell 11, the limiting is opened, the protective shell 11 can drive the industrial camera 12 fixedly to rotate, after the industrial camera 12 is rotated to the required angle, the limiting block 17 is reset by the elastic force of the return spring 16, so that the protective shell 11 and the connecting frame 3 are in a fixed state; when detecting a robot shell with a complex curved surface or irregular shape, the angle of the industrial camera 12 can be adjusted, so that the lens of the industrial camera 12 and the detected surface can be kept as vertical as possible or in a suitable angle relationship, thereby reducing the image distortion caused by perspective distortion or inclined shooting, and improving the accuracy of size measurement and defect positioning.

[0027] Two reset springs 16 are movably sleeved with two connecting rods 15, two reset springs 16 are fixedly connected with two grooves, the upper surfaces of two connecting rods 15 are fixedly connected with a handle 14, a lead screw 6 is threadedly sleeved with a connecting frame 3 located at the front of two connecting frames 3, the lower surfaces of two connecting frames 3 are fixedly connected with pulleys 9, the upper surface of a conveying frame 1 is provided with two clamping grooves 5, two clamping grooves 5 are slidably connected with two pulleys 9, by rotating a rocker 8 to drive a fixed lead screw 6 to rotate, the connecting frame 3 sleeved with the lead screw 6 moves under the action of threads, the connecting frame 3 moves to drive the industrial camera 12 arranged thereon to move, and the position of the industrial camera 12 is adjusted. On the automatic production line, the conveying speed and position of the robot shell may fluctuate to a certain extent, the position of the industrial camera 12 can be adjusted, the detection system can be adjusted according to the actual situation of the production line, the detection of each shell can be accurately performed under different production rhythms, and the automation degree and stability of the entire production line are improved.

[0028] Among them, the conveying frame 1: used for bearing and conveying the robot shell into the detection area, is the carrier of the shell circulation in the entire detection process, provides a position basis for the subsequent detection link, and guarantees the continuous detection work;

[0029] The controller 2: coordinates the operation of the detection device components, accurately controls the conveying system speed, positioning mechanism action and visual detection process, and is the core "command" of the device automatic operation;

[0030] The connecting frame 3: connects the conveying frame 1 and the protective shell 11, provides installation support for the protective shell 11 and the internal industrial camera 12, and can drive the industrial camera 12 to move to adjust the position under the action of the lead screw 6;

[0031] The clamping groove 5: cooperates with the pulley 9 to provide guidance and stable support for the movement of the connecting frame 3, so that the connecting frame 3 can smoothly slide on the conveying frame 1, and the position adjustment of the industrial camera 12 is smooth;

[0032] The lead screw 6: drives the connecting frame 3 to move by rotating, so as to realize the position adjustment of the industrial camera 12, meet different detection requirements, and ensure that the camera can adapt to the shell position and production line changes;

[0033] The fixed plate 7: fixes the lead screw 6 to keep it stable when rotating, provides a reliable support basis for the lead screw 6, ensures that the lead screw 6 transmits stably, and further guarantees the accurate position adjustment of the industrial camera 12;

[0034] The rocker 8: as a manual operation component, facilitates the rotation of the lead screw 6 by the operator, drives the lead screw 6 to rotate by means of human power, and adjusts the position of the industrial camera 12, which is simple and convenient to operate;

[0035] Pulley 9: installed on the lower surface of the connecting frame 3, slidingly connected with the clamping groove 5, reducing the friction when the connecting frame 3 moves, making the connecting frame 3 move more smoothly and flexibly with the industrial camera 12;

[0036] Connecting block 10: fixed on the upper surface of the connecting frame 3, cooperating with the limiting block 17 and the return spring 16, realizing the limiting and fixing of the rotation of the protective shell 11, ensuring the stability of the angle adjustment of the industrial camera 12;

[0037] Protective shell 11: protecting the internal industrial camera 12, while being rotatable to adjust the angle of the industrial camera 12, ensuring that the camera lens can maintain a suitable angle with the surface of the detected shell, reducing image distortion;

[0038] Industrial camera 12: taking pictures of the robot shell, providing data basis for subsequent image processing and defect detection, being the key component for obtaining shell appearance information and judging shell quality;

[0039] Limiting slot 13: clamped with the limiting block 17, limiting the rotation range of the protective shell 11, after the angle of the industrial camera 12 is adjusted, cooperating with the limiting block 17 to fix the protective shell 11, ensuring the stability of the detection angle;

[0040] Grip 14: facilitating the operator to pull upwards, driving the limiting block 17 to move, releasing the limiting of the protective shell 11, facilitating the adjustment of the angle of the industrial camera 12, and the operation design is humanized;

[0041] Connecting rod 15: connecting the grip 14 and the limiting block 17, transmitting the pulling force of the grip 14 to make the limiting block 17 move, while sleeving the return spring 16, ensuring the normal work of the return spring 16;

[0042] Return spring 16: after the limiting block 17 moves, relying on its own elastic force to reset the limiting block 17, re-clamping with the limiting slot 13 to fix the protective shell 11, maintaining the stability of the angle of the industrial camera 12;

[0043] Limiting block 17: clamped or separated with the limiting slot 13, realizing the limiting and unlocking of the rotation of the protective shell 11, cooperating with the return spring 16 to accurately control the angle adjustment and fixing of the industrial camera 12.

[0044] Working principle:

[0045] In use, the robot shell enters the detection area through the conveying frame 1, the industrial camera 12 shoots the image of the shell and transmits it to the image processing unit, the image processing unit analyzes and processes the image by using an algorithm, compares it with a standard image or parameter, judges whether the shell has appearance defects, displays the detection results and related information on the man-machine interface, pulls the handle 14 upwards to drive the two fixed limiting blocks 17 to move together, compresses the reset spring 16, at this time the two limiting blocks 17 will be separated from the clamping of the two groups of limiting grooves 13 opened on the protective shell 11, the limiting is opened, the protective shell 11 can drive the fixed industrial camera 12 to rotate, after rotating the industrial camera 12 to the required angle, the reset spring 16 drives the limiting block 17 to reset, so that the protective shell 11 and the connecting frame 3 are in a fixed state, when detecting a robot shell with a complex curved surface or irregular shape, by adjusting the angle of the industrial camera 12, the industrial camera 12 lens and the detected surface can be kept as vertical as possible or at a suitable angle relationship, thereby reducing the image distortion caused by perspective distortion and inclined shooting, improving the accuracy of size measurement and defect positioning, rotating the rocker 8 drives the fixed screw rod 6 to rotate, the connecting frame 3 sleeved on the screw rod 6 moves under the action of the screw thread, the movement of the connecting frame 3 drives the industrial camera 12 arranged thereon to move, thereby adjusting the position of the industrial camera 12, on the automatic production line, the conveying speed and position of the robot shell may fluctuate, the position of the industrial camera 12 can be adjusted, so that the detection system can be adjusted according to the actual situation of the production line, ensuring that each shell can be accurately detected under different production rhythms, improving the automation degree and stability of the entire production line.

[0046] Finally, it should be noted that: obviously, the above embodiments are only examples for clearly illustrating the utility model, and are not limited to the implementation. For ordinary skilled persons in the art, other different forms of changes or variations can be made on the basis of the above description. Here, it is not necessary and impossible to enumerate all the implementation modes. The obvious changes or variations derived therefrom are still within the protection scope of the utility model.

Claims

1. An appearance inspection device for manufacturing an intelligent robot housing, comprising a conveying rack (1) and a controller (2), characterized in that, The upper surface of the conveying frame (1) is fixedly connected with two connecting frames (3), the two connecting frames (3) are rotatably connected with a protective shell (11), an industrial camera (12) for detection is fixedly installed in the protective shell (11), and the upper surfaces of the two connecting frames (3) are fixedly connected with a connecting block (10); Wherein, the lower surface of the connecting block (10) is provided with two grooves, the two grooves are movably connected with a limiting block (17), the upper surfaces of the two limiting blocks (17) are fixedly connected with a reset spring (16) and a connecting rod (15), the upper surface of the conveying frame (1) is fixedly connected with a fixed plate (7), the fixed plate (7) is rotatably connected with a lead screw (6), and the left surface of the lead screw (6) is fixedly connected with a rocker (8).

2. The appearance inspection apparatus for a smart robot housing manufacturing according to claim 1, characterized by: The surface of the protective shell (11) is provided with two groups of limiting grooves (13); Wherein, the two groups of limiting grooves (13) are movably connected with two limiting blocks (17).

3. The appearance inspection apparatus for a smart robot housing manufacturing according to claim 1, characterized by: Two reset springs (16) are movably connected with two connecting rods (15) respectively.

4. The appearance inspection apparatus for a smart robot housing manufacturing according to claim 1, characterized by: Two reset springs (16) are fixedly connected with two grooves respectively. Wherein, the upper surfaces of the two connecting rods (15) are fixedly connected with a handle (14).

5. The appearance inspection apparatus for a smart robot housing manufacturing according to claim 1, characterized by: The lead screw (6) is threadedly connected with the connecting frame (3) located in front of the two connecting frames (3).

6. The appearance inspection apparatus for a smart robot housing manufacturing according to claim 1, wherein: The lower surfaces of the two connecting frames (3) are fixedly connected with pulleys (9), and the upper surface of the conveying frame (1) is provided with two clamping grooves (5); Wherein, the two clamping grooves (5) are slidably connected with two pulleys (9) respectively.

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