Visual inspection robot capable of adjusting visual angle

Abstract

The utility model discloses a visual detection robot that can adjust visual angle, including control bottom box, the top fixedly connected with workstation of control bottom box, the top slidingly connected with moving platform of workstation, the bottom fixedly connected with nut seat of moving platform, the inside screw thread connection of nut seat has ball screw. The utility model discloses through setting positive and negative motor drive ball screw, drive moving platform to slide on the workstation, realize the position adjustment of visual detection probe in horizontal direction, the rotating platform can make multi -axis mechanical hand drive visual detection probe and rotate, and the stand mechanism can place and angle adjustment to the detection object, make visual detection probe can carry out position and angle's adjustment in multiple dimensions, realize to detection object all -round, multi -angle detection, effectively eliminate the detection blind area, improve the comprehensiveness and accuracy of detection, satisfy the demand of high accuracy detection to multiple same batch workpiece simultaneously.

Description

Technical Field

[0001] This utility model relates to the field of visual inspection technology, specifically a visual inspection robot that can adjust the visual angle. Background Technology

[0002] In the industrial production sector, with the rapid development of intelligent manufacturing, visual inspection technology, as a crucial means of product quality control, is widely used in various industries such as electronics, automotive, and machinery manufacturing. Traditional visual inspection equipment typically has fixed visual inspection probes, enabling inspection only at specific angles and positions of the product. When faced with workpieces with complex shapes and diverse surface features, the inability to flexibly adjust the inspection angle easily leads to blind spots, resulting in frequent missed or false detections and failing to meet the demands of high-precision inspection.

[0003] Although some improved equipment has introduced simple angle adjustment structures (such as a single rotation or linear movement mechanism), it still has significant drawbacks: manual adjustment equipment is cumbersome to operate and has low precision; automatic equipment driven by a single motor has limited detection angle and range and cannot achieve all-round detection.

[0004] Therefore, it is necessary to modify it by setting up a moving stage, a rotating stage, a multi-axis manipulator and a placement frame mechanism to rotate the object to be inspected while adjusting the vision inspection probe. This enables flexible adjustment of the inspection angle in multiple dimensions, can cover the workpiece surface in all directions, effectively eliminate blind spots, and significantly reduce the probability of missed or false detections. Utility Model Content

[0005] To address the problems mentioned in the background art, the purpose of this utility model is to provide a visual inspection robot with adjustable visual angle. Through the coordinated operation of a moving stage, a rotating stage, a multi-axis manipulator, and a placement frame mechanism, it can rotate the object to be inspected while adjusting the visual inspection probe, achieving multi-dimensional and flexible adjustment of the inspection perspective. This allows for comprehensive coverage of the workpiece surface, effectively eliminating blind spots and significantly reducing the probability of missed or false inspections. It solves the problems of cumbersome operation and low precision of manually adjustable equipment, and the limited inspection angle and range of single-motor driven automatic equipment, which cannot achieve omnidirectional inspection.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a visual inspection robot with adjustable visual angle, comprising a control base box, a worktable fixedly connected to the top of the control base box, a movable stage slidably connected to the top of the worktable, a nut seat fixedly connected to the bottom of the movable stage, a ball screw threadedly connected to the internal thread of the nut seat, the right end of the ball screw being rotatably connected to the top of the worktable via a support plate, a forward and reverse motor fixedly connected to the left side of the top of the worktable, the output end of the forward and reverse motor being fixedly connected to the left end of the ball screw via a coupling, a rotary table fixedly connected to the top of the movable stage, a multi-axis manipulator mounted on the top of the rotary table, a visual inspection probe mounted on the output end of the multi-axis manipulator, a first support plate fixedly connected to the left side of the front of the worktable, a second support plate fixedly connected to the right side of the front of the worktable, and a placement frame mechanism rotatably connected to the inner sides of the first and second support plates.

[0007] As a preferred embodiment of this utility model, the placement frame mechanism includes a C-shaped frame rotatably connected to the right side of the first support plate, a rotating frame fixedly connected to the right side of the C-shaped frame, a servo motor disposed on the right side of the rotating frame, the right side of the servo motor being fixedly connected to the left side of the second support plate, the output end of the servo motor being fixedly connected to the center of the right side of the rotating frame via a coupling, and a clamping mechanism disposed inside the rotating frame.

[0008] In a preferred embodiment of this invention, the clamping mechanism includes a number of fixed baffles fixedly connected inside the rotating frame and a clamping cylinder fixedly connected inside the C-shaped frame. The number of fixed baffles are evenly distributed. The rotating frame is slidably connected to a number of movable clamping plates that are staggered with the fixed baffles. Extension rods are fixedly connected to the front and rear sides of the bottom of the movable clamping plates. The bottom ends of the extension rods extend to the bottom of the rotating frame, and adjacent extension rods are fixedly connected by push rods. The output end of the clamping cylinder passes through the interior of the rotating frame and is fixedly connected to the left side of the leftmost movable clamping plate.

[0009] As a preferred embodiment of this utility model, a T-shaped block is fixedly connected to the top of the push rod, and a number of T-shaped grooves that cooperate with the T-shaped block are provided on both the front and rear sides of the bottom of the rotating frame. The surface of the T-shaped block is slidably connected to the inner wall of the T-shaped groove.

[0010] As a preferred embodiment of this utility model, the output end of the multi-axis manipulator is fixedly connected to an electric telescopic rod, the bottom of the electric telescopic rod is fixedly connected to a light shield, the bottom of the light shield is fixedly connected to the top of the visual inspection probe, and the bottom of the light shield is fixedly connected to an adjustable supplementary light located outside the visual inspection probe.

[0011] As a preferred embodiment of this utility model, the front and rear sides of the top of the workbench are fixedly connected with slide rails, and the front and rear sides of the bottom of the movable platform are fixedly connected with slide tracks that cooperate with the slide rails, and the inner wall of the slide track is slidably connected to the surface of the slide rail.

[0012] Compared with the prior art, the beneficial effects of this utility model are as follows: 1. This utility model uses a forward and reverse motor to drive a ball screw, which in turn moves a moving stage on the worktable to adjust the horizontal position of the vision inspection probe. The rotary table allows a multi-axis robot to rotate the vision inspection probe and adjust the inspection angle. The placement frame mechanism can place and adjust the angle of the inspection object. The coordinated operation of these structures enables the vision inspection probe to be adjusted in position and angle in multiple dimensions, achieving all-round and multi-angle inspection of the inspection object, effectively eliminating blind spots, improving the comprehensiveness and accuracy of the inspection, and meeting the need for high-precision inspection of multiple workpieces from the same batch at the same time.

[0013] 2. This utility model uses a servo motor in the placement frame mechanism to drive the rotating frame to rotate, which in turn drives the C-shaped frame and the internal inspection object to rotate. This allows the inspection object to be flipped to different angles. Combined with a visual inspection probe, it can detect all sides of the inspection object, further increasing the diversity of inspection angles. This solves the problem that traditional equipment has difficulty detecting the back of the inspection object and other positions, thus improving the integrity of the inspection. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is a schematic diagram of the structure of this utility model from below; Figure 3 This is a schematic diagram of the right-side structure of this utility model; Figure 4 This utility model Figure 1 A magnified structural diagram of A in the middle; Figure 5 This utility model Figure 2 A magnified structural diagram of B in the diagram.

[0015] In the diagram: 1. Control base box; 2. Worktable; 3. Moving table; 4. Nut seat; 5. Ball screw; 6. Forward and reverse motor; 7. Rotary table; 8. Multi-axis robot; 9. Vision inspection probe; 10. First support plate; 11. Second support plate; 12. Placement rack mechanism; 13. C-shaped frame; 14. Rotating frame; 15. Servo motor; 16. Clamping mechanism; 17. Fixed baffle; 18. Clamping cylinder; 19. Moving clamping plate; 20. Extension rod; 21. Push rod; 22. T-block; 23. T-slot; 24. Electric telescopic rod; 25. Light shield; 26. Supplementary light; 27. Slide rail; 28. Slide track. Detailed Implementation

[0016] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0017] like Figures 1 to 5 As shown, this utility model provides a visual inspection robot with adjustable visual angle, including a control base box 1. A worktable 2 is fixedly connected to the top of the control base box 1. A movable stage 3 is slidably connected to the top of the worktable 2. A nut seat 4 is fixedly connected to the bottom of the movable stage 3. A ball screw 5 is threadedly connected to the inside of the nut seat 4. The right end of the ball screw 5 is rotatably connected to the top of the worktable 2 through a support plate. A forward and reverse motor 6 is fixedly connected to the left side of the top of the worktable 2. The output end of the forward and reverse motor 6 is fixedly connected to the left end of the ball screw 5 through a coupling. A rotary table 7 is fixedly connected to the top of the movable stage 3. A multi-axis manipulator 8 is provided on the top of the rotary table 7. A visual inspection probe 9 is provided at the output end of the multi-axis manipulator 8. A first support plate 10 is fixedly connected to the left side of the front of the worktable 2. A second support plate 11 is fixedly connected to the right side of the front of the worktable 2. A placement frame mechanism 12 is rotatably connected to the inner side of the first support plate 10 and the second support plate 11.

[0018] refer to Figure 4 The placement frame mechanism 12 includes a C-shaped frame 13 rotatably connected to the right side of the first support plate 10. A rotating frame 14 is fixedly connected to the right side of the C-shaped frame 13. A servo motor 15 is provided on the right side of the rotating frame 14. The right side of the servo motor 15 is fixedly connected to the left side of the second support plate 11. The output end of the servo motor 15 is fixedly connected to the center of the right side of the rotating frame 14 through a coupling. A clamping mechanism 16 is provided inside the rotating frame 14.

[0019] As a technical optimization of this utility model, by setting the servo motor 15 in the placement frame mechanism 12 to drive the rotating frame 14 to rotate, thereby driving the C-shaped frame 13 and the internal detection object to rotate, the detection object can be flipped to different angles. With the visual inspection probe 9, the detection of each side of the detection object can be realized, further increasing the diversity of the detection perspective, solving the problem that traditional equipment is difficult to detect the back of the detection object and other positions, and improving the integrity of the detection.

[0020] refer to Figure 4The clamping mechanism 16 includes a number of fixed baffles 17 fixedly connected inside the rotating frame 14 and clamping cylinders 18 fixedly connected inside the C-shaped frame 13. The number of fixed baffles 17 are evenly distributed. The rotating frame 14 is slidably connected to a number of movable clamping plates 19 that are staggered with the fixed baffles 17. The bottom front and rear sides of the movable clamping plates 19 are fixedly connected to extension rods 20. The bottom ends of the extension rods 20 extend to the bottom of the rotating frame 14, and adjacent extension rods 20 are fixedly connected to each other by push rods 21. The output end of the clamping cylinder 18 passes through the interior of the rotating frame 14 and is fixedly connected to the left side of the leftmost movable clamping plate 19.

[0021] As a technical optimization of this utility model, by setting a clamping cylinder 18 to push the moving clamping plate 19, which cooperates with the fixed baffle 17, it is possible to stably clamp the test objects of different sizes, ensuring that the position of the test objects is fixed during the test process, and avoiding the impact of the test object shaking on the accuracy of the test results; at the same time, multiple moving clamping plates 19 and fixed baffles 17 are staggered, which can simultaneously meet the clamping requirements of multiple test objects of the same batch, further improving the test efficiency.

[0022] refer to Figure 5 The top of the push rod 21 is fixedly connected to a T-shaped block 22. The bottom of the rotating frame 14 has a number of T-shaped grooves 23 that cooperate with the T-shaped block 22. The surface of the T-shaped block 22 is slidably connected to the inner wall of the T-shaped groove 23.

[0023] As a technical optimization of this utility model, by setting the T-shaped block 22 and the T-shaped groove 23 to cooperate, the movement of the push rod 21 and the moving clamp 19 is guided and limited, making the moving clamp 19 more stable during the movement and preventing it from shifting or shaking. This ensures the accuracy and reliability of the clamping action, and further ensures the stability of the detection process and the accuracy of the detection results.

[0024] refer to Figure 1 The output end of the multi-axis manipulator 8 is fixedly connected to an electric telescopic rod 24. The bottom of the electric telescopic rod 24 is fixedly connected to a light shield 25. The bottom of the light shield 25 is fixedly connected to the top of the vision inspection probe 9. An adjustable supplementary light 26 located outside the vision inspection probe 9 is fixedly connected to the bottom of the light shield 25.

[0025] As a technical optimization of this utility model, the height of the visual inspection probe 9 can be adjusted according to the inspection requirements by setting the electric telescopic rod 24, which can adapt to the inspection objects of different heights; the light shield 25 can reduce the interference of external light on the visual inspection probe 9 and ensure the quality of the inspection image; the adjustable supplementary light 26 can adjust the intensity and angle of the light according to the inspection environment and the characteristics of the inspection object, providing suitable lighting conditions for the visual inspection probe 9, improving the clarity and accuracy of the inspection, and is especially suitable for inspection scenarios with poor lighting conditions.

[0026] refer to Figure 1 The front and rear sides of the top of the worktable 2 are fixedly connected with slide rails 27, and the front and rear sides of the bottom of the movable table 3 are fixedly connected with slide tracks 28 that cooperate with the slide rails 27. The inner wall of the slide track 28 is slidably connected to the surface of the slide rail 27.

[0027] As a technical optimization of this utility model, by setting the slide rail 27 and the slide 28 in cooperation, a stable support and guide are provided for the sliding of the moving stage 3 on the worktable 2, reducing the friction and resistance during the movement of the moving stage 3, so that the moving stage 3 can move more smoothly and accurately, thereby ensuring the accuracy and stability of the horizontal position adjustment of the visual inspection probe 9, and improving the detection efficiency and detection accuracy.

[0028] The working principle and usage process of this utility model are as follows: In use, the workpiece to be tested is placed in the clamping mechanism 16 of the placement frame mechanism 12 through the external feeding device. The clamping cylinder 18 is started, and its output end pushes the leftmost movable clamping plate 19. When the leftmost movable clamping plate 19 moves, it drives the extension rod 20 and the push rod 21 to move, so that several movable clamping plates 19 slide in the rotating frame 14 and cooperate with the fixed baffle 17 to stably clamp the workpiece. Subsequently, if it is necessary to adjust the angle of the workpiece, the servo motor 15 is started, and the rotating frame 14 is driven to rotate through the coupling, thereby rotating the C-shaped frame 13 and the clamped workpiece to a suitable angle. The multi-axis robot arm 8 can flexibly adjust the angle of the vision inspection probe 9, and the electric telescopic rod 24 can adjust the height of the vision inspection probe 9 as needed. After adjustment, the vision inspection probe 9 is aligned with the object to be inspected. The forward and reverse motor 6 works, and its output end drives the ball screw 5 to rotate through the coupling. The nut seat 4 moves on the ball screw 5, driving the moving table 3 to slide along the slide rail 27 on the top of the worktable 2, so that the vision inspection probe 9 moves in the horizontal direction, thereby inspecting multiple objects to be inspected on the placement frame mechanism 12 one by one. During the inspection process, if the ambient light is poor, the angle and brightness of the supplementary light 26 can be adjusted, and the light shield 25 reduces the interference of external light to ensure the clarity and accuracy of the inspection image. The vision inspection probe 9 acquires images of the workpiece and transmits the data to the control box 1 for analysis and processing, thereby completing the inspection task.

[0029] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0030] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A visual inspection robot capable of adjusting visual angle, comprising a control base box (1), characterized in that: The top of the control bottom box (1) is fixedly connected with a workbench (2), the top of the workbench (2) is slidably connected with a moving table (3), the bottom of the moving table (3) is fixedly connected with a nut seat (4), the inside of the nut seat (4) is threadedly connected with a ball screw (5), the right end of the ball screw (5) is rotatably connected with the top of the workbench (2) through a support plate, the left side of the top of the workbench (2) is fixedly connected with a forward-reverse motor (6), the output end of the forward-reverse motor (6) is fixedly connected with the left end of the ball screw (5) through a shaft coupling, the top of the moving table (3) is fixedly connected with a rotating table (7), the top of the rotating table (7) is provided with a multi-axis manipulator (8), the output end of the multi-axis manipulator (8) is provided with a visual detection probe (9), the left side of the front of the workbench (2) is fixedly connected with a first support plate (10), the right side of the front of the workbench (2) is fixedly connected with a second support plate (11), the inside of the first support plate (10) and the second support plate (11) is rotatably connected with a placing rack mechanism (12).

2. The visual inspection robot of claim 1, wherein: The placing rack mechanism (12) comprises a C-shaped rack (13) rotatably connected to the right side of the first support plate (10), the right side of the C-shaped rack (13) is fixedly connected with a rotating frame (14), the right side of the rotating frame (14) is provided with a servo motor (15), the right side of the servo motor (15) is fixedly connected with the left side of the second support plate (11), the output end of the servo motor (15) is fixedly connected with the right side center of the rotating frame (14) through a shaft coupling, the inside of the rotating frame (14) is provided with a clamping mechanism (16). 3.The visual inspection robot of claim 2, wherein: The clamping mechanism (16) comprises a plurality of fixed baffles (17) fixedly connected in the inside of the rotating frame (14) and a clamping cylinder (18) fixedly connected in the inside of the C-shaped rack (13), and the plurality of fixed baffles (17) are evenly distributed, the inside of the rotating frame (14) is slidably connected with a plurality of moving clamping plates (19) staggered with the fixed baffles (17), the front and back sides of the bottom of each moving clamping plate (19) are fixedly connected with an extension rod (20), the bottom end of the extension rod (20) extends to the bottom of the rotating frame (14), and every two adjacent extension rods (20) are fixedly connected through a pushing rod (21), the output end of the clamping cylinder (18) penetrates into the inside of the rotating frame (14) and is fixedly connected with the left side of the leftmost moving clamping plate (19).

4. The visual inspection robot of claim 3, wherein: The top of the pushing rod (21) is fixedly connected with a T-shaped block (22), the front and back sides of the bottom of the rotating frame (14) are provided with a plurality of T-shaped grooves (23) matched with the T-shaped block (22), and the surface of the T-shaped block (22) is slidably connected with the inner wall of the T-shaped groove (23).

5. The visual inspection robot of claim 1, wherein: The output end of the multi-axis manipulator (8) is fixedly connected with an electric telescopic rod (24), the bottom of the electric telescopic rod (24) is fixedly connected with a light shield (25), the bottom of the light shield (25) is fixedly connected with the top of the visual detection probe (9), and the bottom of the light shield (25) is fixedly connected with an adjustable light supplement lamp (26) located outside the visual detection probe (9).

6. The visual inspection robot of claim 1, wherein: The front and rear sides of the top of the workbench (2) are fixedly connected with sliding rails (27), and the front and rear sides of the bottom of the moving table (3) are fixedly connected with sliding channels (28) used in cooperation with the sliding rails (27), and the inner wall of the sliding channel (28) is in sliding connection with the surface of the sliding rail (27).

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