Visual inspection device for a wrist pipe

Abstract

The utility model relates to detection device technical field especially is related to a kind of visual inspection device of wrist arm pipe, to alleviate the problem that conventional background reflection equipment cannot be adjusted according to the movement of manipulator or the different size of pipe material, and then limit the movement of manipulator or influence visual identification.This device includes light supplement component;Four light supplement components are respectively arranged in the length direction of the lower part of pipe material two sides, and can dynamically adjust position in the process of moving under manipulator;Light supplement component includes light supplement plate, horizontal shift mechanism and adjusting mechanism;Horizontal shift mechanism can control the light supplement plate of same side to approach each other or away from each other;Adjusting mechanism can control light supplement plate to incline to the direction of away from pipe material.Under the control of adjusting mechanism, it can adapt to pipe material of different sizes, and the angle of reflected light can also be adjusted, to improve the accuracy of manipulator grabbing;Horizontal shift mechanism can flexibly adjust the position of light supplement plate according to the action of manipulator, avoid to cause hindrance to the movement of manipulator.

Description

Technical Field

[0001] This utility model relates to the field of detection device technology, and in particular to a visual detection device for a carpal tunnel. Background Technology

[0002] In modern industrial production, robotic arms are increasingly widely used, especially in operations such as handling and gripping pipes. To improve the accuracy and efficiency of robotic arms in gripping pipes, it is usually necessary to optimize the working environment. A common challenge is ensuring that the robotic arm can accurately identify and grasp the target pipe, especially in conditions of insufficient light or strong reflections. In such cases, supplementary lighting devices become an important auxiliary tool to improve the gripping effect.

[0003] Most existing pipe-grabbing systems rely on fixed-position light sources to provide the necessary illumination for visual recognition. However, these solutions have several significant limitations:

[0004] Traditional reflective devices are usually fixed and cannot be adjusted according to the movement of robotic arms or the different sizes of pipes. This can lead to shadows at certain angles, affecting the recognition ability of the vision system.

[0005] Since the fill light plate is usually set in a fixed position, it may occupy a certain amount of operating space and limit the range of motion of the robot arm, especially in a confined working environment. Utility Model Content

[0006] This invention provides a visual inspection device for a wrist arm tube to alleviate the problem that conventional background reflective devices cannot be adjusted according to the movement of the robotic arm or the different sizes of the tube, thereby limiting the movement of the robotic arm or affecting visual recognition.

[0007] To alleviate the above-mentioned technical problems, the technical solution provided by this utility model is as follows:

[0008] This utility model provides a visual inspection device for a carpal tunnel, including a supplementary lighting component;

[0009] The four supplementary lighting components are respectively set on both sides of the lower part of the tube along its length, and their positions can be dynamically adjusted as the robotic arm moves downward;

[0010] The supplementary lighting assembly includes a supplementary lighting plate, a horizontal movement mechanism, and an adjustment mechanism;

[0011] The lateral movement mechanism can control the fill lights on the same side to move closer or further apart from each other;

[0012] The adjustment mechanism can control the fill light plate to tilt away from the pipe.

[0013] Furthermore,

[0014] The lateral movement mechanism includes a base, a slide rail, and a first cylinder;

[0015] The first cylinder is located on the upper part of the base;

[0016] The slide rails are respectively located on both sides of the first cylinder;

[0017] The upper part of the slide rail is slidably connected to the lower part of the adjustment mechanism;

[0018] The first piston rod of the first cylinder is fixedly connected to the adjusting mechanism.

[0019] Furthermore,

[0020] The adjustment mechanism includes a second cylinder, a partition, and a support plate;

[0021] The support plate is vertically installed on the upper part of the partition;

[0022] The two second cylinders are located on the side of the partition away from the pipe;

[0023] The second piston rod of the second cylinder is positioned upwards and is rotatably connected to the lower part of the fill light plate;

[0024] The upper part of the support plate is rotatably connected to the fill light plate.

[0025] Furthermore,

[0026] The lower part of the support plate is provided with two sliding grooves;

[0027] The slide groove and the slide rail are slidably connected.

[0028] Furthermore,

[0029] It also includes supporting institutions;

[0030] Four support mechanisms are respectively installed at the lower ends of the pipe;

[0031] The support mechanism includes a support base and a positioning shaft;

[0032] The positioning shaft is located on the upper part of the support base and is rotatably connected to the support base.

[0033] Furthermore,

[0034] The length direction of the positioning shaft is the same as the length direction of the pipe.

[0035] Furthermore,

[0036] The lateral movement mechanism on the same side is located between the support mechanisms on the same side.

[0037] Furthermore,

[0038] The first piston rods on the same side are positioned opposite each other.

[0039] Furthermore,

[0040] The upper surface of the fill light panel is made of a diffuse reflective material, and light strips are installed on the upper surface of the fill light panel;

[0041] The light strip can adjust its brightness in real time according to the ambient light.

[0042] Furthermore,

[0043] The light strip can change color.

[0044] The beneficial effects of the visual inspection device of the carpal tube in this invention are analyzed as follows:

[0045] This device includes supplementary lighting components; four supplementary lighting components are respectively arranged on both sides of the lower part of the pipe along its length, and their positions can be dynamically adjusted during the downward movement of the robotic arm; each supplementary lighting component includes a supplementary lighting plate, a lateral movement mechanism, and an adjustment mechanism; the lateral movement mechanism can control the supplementary lighting plates on the same side to move closer or further apart; the adjustment mechanism can control the supplementary lighting plates to tilt away from the pipe. Under the control of the adjustment mechanism, the angle of the supplementary lighting plates can be changed to adapt to pipes of different sizes, and the angle of reflected light can also be adjusted to improve the accuracy of the robotic arm's gripping; by setting up the lateral movement mechanism, the position of the supplementary lighting plates can be flexibly adjusted according to the movement of the robotic arm, ensuring optimal lighting effect while avoiding obstruction to the movement of the robotic arm. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the specific embodiments or related technologies of this utility model, the drawings used in the description of the specific embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0047] Figure 1 A schematic diagram of the supplementary lighting component for the robotic arm gripping pipes provided in this embodiment of the utility model;

[0048] Figure 2 A schematic diagram of the structure when the adjustment component controls the tilt of the fill light plate;

[0049] Figure 3 This is a schematic diagram of the transverse movement mechanism;

[0050] Figure 4 This is a schematic diagram of the cross-section of the tube used for the fill light panel in a horizontal position.

[0051] Figure 5 This is a schematic diagram of the cross-section of the tube used for the fill light panel when it is tilted.

[0052] icon:

[0053] 100-Fill light assembly;

[0054] 110 - Fill light panel; 111 - LED strip;

[0055] 120 - Lateral movement mechanism; 121 - Base; 122 - Slide rail; 123 - First cylinder; 124 - First piston rod;

[0056] 130 - Adjustment mechanism; 131 - Second cylinder; 1311 - Second piston rod; 132 - Partition plate; 133 - Support plate; 134 - Slide groove;

[0057] 200 - Support mechanism; 210 - Support base; 220 - Positioning shaft;

[0058] 300-robotic arm;

[0059] 400 - Pipe material. Detailed Implementation

[0060] Most existing pipe-grabbing systems rely on fixed-position light sources to provide the necessary illumination for visual recognition. However, these solutions have several significant limitations:

[0061] Traditional supplemental lighting equipment is typically fixed and cannot be adjusted according to the movement of the robotic arm or the different sizes of the tubing. This can lead to shadows at certain angles, affecting the recognition capabilities of the vision system. Secondly, since the supplemental lighting panel is usually set in a fixed position, it may occupy a certain amount of operating space, limiting the range of motion of the robotic arm, especially in confined working environments.

[0062] In view of this, such as Figures 1 to 5 As shown, this solution provides a visual inspection device for a carpal tunnel to alleviate the above-mentioned problems.

[0063] This device includes a supplementary lighting component 100;

[0064] Four supplementary lighting components 100 are respectively set on both sides of the lower part of the tube 400 along the length direction, and their positions can be dynamically adjusted during the downward movement of the robotic arm 300;

[0065] The supplementary lighting assembly 100 includes a supplementary lighting plate 110, a horizontal movement mechanism 120, and an adjustment mechanism 130;

[0066] The lateral movement mechanism 120 can control the fill light plates 110 on the same side to move closer or further apart from each other;

[0067] The adjustment mechanism 130 can control the fill light plate 110 to tilt away from the pipe 400.

[0068] Specifically, the robot's vision sensor is typically mounted on a support above the pipe or at the robot's highest visual point. It emits light signals from top to bottom to scan the pipe and determine the position of the workpiece to be grasped in real time. The robot usually grasps the center of the pipe and extends downwards until its tip extends beyond the bottom of the pipe before clamping it to maintain gripping stability. In this device, the lateral movement mechanism 120 is in a close-to-close position during the robot's downward grasping process, ensuring that the area below the robot's grasping part is completely covered by the supplementary lighting plate 110 to fully reflect the visual light. The light signal emitted by the sensor moves away from the robot arm after it partially overlaps with the pipe, allowing the robot arm to move aside and ensuring stable gripping of the pipe. However, in special cases, such as when the center of the pipe is not at the predetermined center of the clamp after placement, the lateral movement mechanisms 120 at both ends of the robot arm can move different distances to facilitate gripping. At the same time, the adjustment mechanism 130 can adjust the tilt angle of the fill light plate 110 according to the diameter of the pipe to avoid interference between the fill light plate 110 and the pipe, which could damage the fill light plate 110.

[0069] Regarding the shape and structure of the transverse movement mechanism 120, such as Figure 1 , Figure 2 and Figure 3 As shown:

[0070] The transverse mechanism 120 includes a base 121, a slide rail 122, and a first cylinder 123;

[0071] The first cylinder 123 is located on the upper part of the base 121;

[0072] The slide rails 122 are respectively disposed on both sides of the first cylinder 123;

[0073] The upper part of the slide rail 122 is slidably connected to the lower part of the adjustment mechanism 130;

[0074] The first piston rod 124 of the first cylinder 123 is fixedly connected to the adjusting mechanism 130.

[0075] Specifically, the first cylinder 123 is fixedly mounted horizontally on the upper surface of the base 121 via a baffle; the first piston rod 124 is arranged along the horizontal length of the pipe and is fixedly connected to the stop block at the lower part of the adjusting mechanism 130 away from the first cylinder 123; the slide rail 122 is installed in the same direction as the first piston rod 124, and both ends of the slide rail 122 extend beyond the first cylinder 123 and the first piston rod 124 respectively, to ensure that the fill light plate 110 can move along the length of the pipe.

[0076] Regarding the shape and structure of the adjusting mechanism 130, such as Figure 2 , Figure 4 and Figure 5 As shown:

[0077] The adjusting mechanism 130 includes a second cylinder 131, a partition 132, and a support plate 133;

[0078] The support plate 133 is vertically disposed on the upper part of the partition plate 132;

[0079] Two second cylinders 131 are located on the side of the partition 132 away from the pipe 400;

[0080] The second piston rod 1311 of the second cylinder 131 is set upward and rotatably connected to the lower part of the fill light plate 110;

[0081] The upper part of the support plate 133 is rotatably connected to the fill light plate 110.

[0082] Specifically, two second cylinders 131 are located below the fill light plate 110 on the side away from the pipe, and their lower parts are fixedly connected to the partition plate 132. The second piston rod 1311 is rotatably connected to the lower part of the fill light plate 110 through the first rotating shaft. A second rotating shaft is provided on the side of the fill light plate 110 away from the first rotating shaft. The second rotating shaft is rotatably connected to the upper end of the support plate 133. When the second piston rod 1311 extends upward, the side of the fill light plate 110 away from the pipe moves upward and the side close to the pipe moves downward. When the second piston rod 1311 is reset, the fill light plate 110 returns to being parallel to the horizontal plane.

[0083] The reason for this is that, since the vertical distance between pipes of different sizes and the filler plate 110 varies after they are placed at the gripping station, it may hinder the use of the filler plate 110. Therefore, an adjustment mechanism 130 is provided. Before the pipe is placed at the gripping station, the extension amount of the second piston rod 1311 is adjusted according to the pipe diameter identified by the previous conveying tool to change the angle of the filler plate 110, so as to avoid interference with the pipe. At the same time, before the pipe is conveyed from the previous station, the second piston rod 1311 can be expected to be extended to the maximum angle to avoid interference between the filler plate 110 and the pipe.

[0084] In this design, the lower part of the support plate 133 is provided with two sliding grooves 134;

[0085] The slide groove 134 is slidably connected to the slide rail 122.

[0086] The slide rail 134 and slide rail 122 can be made of linear guide rail mechanism, or other products made by precision manufacturing methods can be used to ensure their movement accuracy and avoid affecting the gripping of the robot arm.

[0087] This plan also includes 200 support structures;

[0088] Four support mechanisms 200 are respectively installed at the lower ends of the pipe 400;

[0089] The support mechanism 200 includes a support base 210 and a positioning shaft 220;

[0090] The positioning shaft 220 is disposed on the upper part of the support base 210 and is rotatably connected to the support base 210;

[0091] The length direction of the positioning shaft 220 is the same as the length direction of the tube 400;

[0092] The transverse movement mechanism 120 on the same side is disposed between the support mechanisms 200 on the same side;

[0093] The first piston rods 124 on the same side are arranged opposite each other.

[0094] Specifically, the support method of the positioning axis 220 allows pipes of different sizes to be placed at the same workstation for clamping, thereby improving the utilization rate of the robot.

[0095] In this solution, the upper surface of the fill light plate 110 is made of a diffuse reflective material to avoid specular reflection affecting the visual sensor's judgment of the pipe position, and the upper surface of the fill light plate 110 is provided with a light strip 111.

[0096] The LED strip 111 can adjust its brightness in real time according to the ambient light.

[0097] LED strip 111 can change color.

[0098] Specifically, the light strip 111 can be a soft-light RGB light strip. When the outer wall of the tube changes due to the coating, the contrast between the fill light plate 110 and the tube can be improved by adjusting the color of the light strip 111. Furthermore, the size of the light strip 111 can be adjusted as needed, such as by enlarging the surrounding area. Figure 2 The size of the light strip 111 can be adjusted to enhance its contrast effect. The arrangement of the light strips can also be changed, such as by arranging them in parallel on the upper surface of the fill light plate 110 to improve the contrast effect. In addition, a light intensity sensor can be installed on the upper surface of the fill light plate 110 to monitor the light intensity in real time and adjust the light intensity of the light strips 111 according to the ambient light intensity of the workstation. The light intensity can be reduced or the light strips 111 can be turned off during the day or in well-lit conditions, and the lighting effect can be improved at night or in poor lighting conditions. The light intensity sensor can also control the second cylinder 131 to ensure that the fill light plate 110 is at the optimal reflection angle. At the same time, a distance sensor can be installed on the upper surface of the fill light plate 110 near the pipe to prevent the light intensity sensor from colliding with the pipe when adjusting the tilt angle of the fill light plate 110.

[0099] This solution has at least the following beneficial effects:

[0100] This invention provides a visual inspection background plate for tube handling, significantly improving the recognition accuracy and efficiency of robotic arms in handling and grasping tubes. Compared to traditional fixed visual inspection background plates, this solution introduces four dynamically adjustable supplementary lighting components. These components can adjust the position and angle of the supplementary lighting plate in real time according to the movement of the robotic arm and changes in the size of the tube, effectively avoiding shadow interference and greatly improving the recognition capability of the vision system. Furthermore, the design of the traversing and adjusting mechanisms allows for precise position adjustment of the supplementary lighting plate without hindering the movement of the robotic arm, ensuring optimal illumination. The supplementary lighting plate uses a diffuse reflective material and is equipped with light strips that automatically adjust brightness and color according to ambient light. This not only overcomes the influence of specular reflection on the vision sensor but also enhances adaptability under different lighting conditions, maintaining high-efficiency inspection performance even in environments with frequent light changes or low contrast. In summary, this solution, through a series of targeted technical improvements, solves many limitations of traditional visual inspection background plates, providing a more intelligent, efficient, and flexible solution for the field of industrial automation.

[0101] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A visual inspection device for a carpal tunnel, characterized in that: Includes supplemental lighting components (100); The four supplementary lighting components (100) are respectively disposed on both sides of the lower part of the tube (400) along the length direction, and their positions can be dynamically adjusted during the downward movement of the robotic arm (300); The supplementary lighting assembly (100) includes a supplementary lighting plate (110), a horizontal movement mechanism (120), and an adjustment mechanism (130). The lateral movement mechanism (120) can control the fill light plates (110) on the same side to move closer to each other or further apart; The adjustment mechanism (130) can control the fill light plate (110) to tilt away from the tube (400).

2. The visual inspection device for the carpal tunnel according to claim 1, characterized in that: The transverse mechanism (120) includes a base (121), a slide rail (122), and a first cylinder (123); The first cylinder (123) is disposed on the upper part of the base (121); The slide rails (122) are respectively disposed on both sides of the first cylinder (123); The upper part of the slide rail (122) is slidably connected to the lower part of the adjustment mechanism (130); The first piston rod (124) of the first cylinder (123) is fixedly connected to the adjustment mechanism (130).

3. The visual inspection device for the carpal tunnel according to claim 2, characterized in that: The adjustment mechanism (130) includes a second cylinder (131), a partition (132), and a support plate (133); The support plate (133) is vertically disposed on the upper part of the partition plate (132); Two second cylinders (131) are disposed on the side of the partition (132) away from the pipe (400); The second piston rod (1311) of the second cylinder (131) is set upward and rotatably connected to the lower part of the fill light plate (110); The upper part of the support plate (133) is rotatably connected to the fill light plate (110).

4. The visual inspection device for the carpal tunnel according to claim 3, characterized in that: The lower part of the support plate (133) is provided with two sliding grooves (134). The slide groove (134) is slidably connected to the slide rail (122).

5. The visual inspection device for the carpal tunnel according to claim 4, characterized in that: It also includes support facilities (200); The four support mechanisms (200) are respectively disposed at the lower parts of both ends of the pipe (400); The support mechanism (200) includes a support base (210) and a positioning shaft (220). The positioning shaft (220) is located on the upper part of the support base (210) and is rotatably connected to the support base (210).

6. The visual inspection device for the carpal tunnel according to claim 5, characterized in that: The length direction of the positioning shaft (220) is the same as the length direction of the pipe (400).

7. The visual inspection device for the carpal tunnel according to claim 6, characterized in that: The lateral movement mechanism (120) on the same side is disposed between the support mechanism (200) on the same side.

8. The visual inspection device for the carpal tunnel according to claim 7, characterized in that: The first piston rod (124) on the same side is arranged opposite to each other.

9. The visual inspection device for the carpal tunnel according to claim 8, characterized in that: The upper surface of the fill light plate (110) is made of a diffuse reflective material, and a light strip (111) is provided on the upper surface of the fill light plate (110). The light strip (111) can adjust its brightness in real time according to the ambient light.

10. The visual inspection device for the carpal tunnel according to claim 9, characterized in that: The light strip (111) can change color.

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