A vision inspection robot

Abstract

The utility model relates to industrial automation detection equipment technical field discloses a kind of visual inspection robots, including stage and detection mechanism, the stage is used to support workpiece, the detection mechanism includes the collection camera that position can be adjusted along at least two directions perpendicular to each other, the collection camera is configured to image acquisition to workpiece circumference, the utility model is cooperated by stage and detection mechanism, realize the efficient accurate detection to large workpiece circumference, the coaxial structure of stage and driving motor ensure that workpiece rotates stably, reduce eccentric error, the bilinear module of detection mechanism makes that collection camera can multidimensional adjustment, adapt to different size workpiece, eliminate detection blind area, solve the problem that existing visual inspection equipment is photographed distortion, imaging fuzzy to large workpiece edge, realize automation detection, improve efficiency and reliability.

Description

Technical Field

[0001] This utility model relates to the field of industrial automation testing equipment technology, and in particular to a vision inspection robot. Background Technology

[0002] In modern industrial manufacturing systems, product quality inspection is becoming increasingly crucial for ensuring the performance of end products and enhancing market competitiveness. This is especially true for inspection scenarios involving the circumferential characteristics of large workpieces (such as circumference and surface defects), which are widely distributed across industries such as machinery and equipment, automobile manufacturing, aerospace, and sealing rings. As industrial production moves towards larger scale and greater precision, the requirements for the accuracy, efficiency, and equipment adaptability of circumferential inspection of large workpieces continue to rise.

[0003] From the perspective of the essential needs of inspection, accurately obtaining the circumferential dimensional parameters and surface quality information of large workpieces is the core basis for judging whether the workpiece meets the assembly and use standards. Traditional manual inspection methods rely on manual measurement and visual inspection by inspectors, which have drawbacks such as low efficiency, strong subjectivity, and susceptibility to human error. They are difficult to guarantee the consistency and accuracy of inspection and can no longer adapt to the high-speed production pace of modern industry.

[0004] To overcome the limitations of manual inspection, visual inspection technology has been gradually applied to the field of industrial inspection. It uses cameras to acquire images and algorithms to analyze and process them to achieve automated inspection of workpiece features. However, for the inspection of the circumference of large workpieces, due to the large size of the workpiece, the camera needs to be at a suitable height and position to capture the circumferential features completely. However, a higher position will increase the distance between the camera and the workpiece circumference. According to the principle of optical imaging, an excessively large object distance may lead to a decrease in imaging resolution and a deterioration in the shooting effect, making it difficult to clearly capture the subtle features of the circumference, such as small surface defects and dimensional accuracy details. Moreover, a higher-positioned camera has a natural disadvantage in shooting the edge of the workpiece circumference. The angle of view is increased, and the edge area is prone to distortion and blurring, making it impossible to capture the edge better and to accurately obtain information such as edge size and contour, which affects the integrity and accuracy of the inspection. Utility Model Content

[0005] This invention addresses the shortcomings of existing technologies by providing a vision inspection robot. By optimizing the equipment structure and functional design, it achieves efficient and accurate inspection of the circumference of large workpieces, solving the problems of poor inspection flexibility and difficulty in accurately obtaining information such as the edge size and contour of workpieces in existing technologies.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A visual inspection robot includes a platform and an inspection mechanism. The platform is used to support a workpiece, and the inspection mechanism includes an acquisition camera whose position can be adjusted in at least two mutually perpendicular directions. The acquisition camera is configured to acquire images of the circumference of the workpiece, and the platform and inspection mechanism are configured to allow relative rotation about a rotation axis between the workpiece and the acquisition camera.

[0007] Preferably, the platform includes a support rotating plate and a connecting rotating shaft. The support rotating plate is used to place the workpiece, and the connecting rotating shaft is fixedly connected to the support rotating plate and coaxially arranged to transmit rotational power. The coaxial arrangement of the connecting rotating shaft and the support rotating plate ensures concentricity during rotation, reduces eccentricity error, and improves the stability of workpiece rotation. The connecting rotating shaft can be made of high-strength alloy steel to improve fatigue resistance and service life.

[0008] Preferably, the platform further includes a drive motor, the output shaft of which is connected to a connecting shaft to drive the bearing plate to rotate around the rotation axis. The drive motor is preferably a servo motor or a stepper motor, and is used in conjunction with a high-precision encoder to achieve closed-loop control. It can also integrate overload protection to prevent motor damage caused by workpiece overweight or jamming.

[0009] Preferably, the detection mechanism includes a support, a first linear module, and a second linear module. The acquisition camera is mounted on a moving part of the second linear module. The first linear module is mounted on the support and is used to drive the acquisition camera to move along a first direction. The second linear module is mounted on the moving part of the first linear module and is used to drive the acquisition camera to move along a second direction. The first direction and the second direction are perpendicular to each other. Through the two perpendicular linear modules, the acquisition camera can move freely in the plane, and the distance between the acquisition camera and the workpiece and the position of the acquisition camera can be precisely adjusted.

[0010] Preferably, the equipment cabinet includes a cabinet panel, the platform and the testing mechanism are mounted on the cabinet panel, the driving device of the platform is located below the cabinet panel, and the load-bearing rotating plate is located above the cabinet panel. The cabinet panel serves as a unified installation platform, which facilitates the positioning and calibration of each component, simplifies the equipment assembly process, and reduces production and maintenance costs.

[0011] Preferably, the first linear module is a vertical moving module, and the second linear module is a horizontal moving module. The vertical moving module is used to adjust the height of the acquisition camera for focusing, and the horizontal moving module is used to adjust the position of the acquisition camera.

[0012] Preferably, the detection mechanism further includes a housing, which is disposed on the moving part of the second linear module. The acquisition camera is located inside the housing. The housing can prevent dust, liquid, debris and other contaminants from contacting the camera lens, reduce image quality degradation caused by environmental factors, and reduce equipment failure rate and maintenance costs.

[0013] Preferably, the platform further includes a sleeve located below the bearing plate. The sleeve is fitted over the connecting shaft and can prevent external impurities such as dust and liquid from entering the bearing area, thus protecting the connecting shaft.

[0014] Preferably, the equipment cabinet is equipped with a lighting panel, which is located within or near the field of view of the acquisition camera. The lighting panel provides a stable and uniform light source, eliminating shadows and reflections on the workpiece surface, improving image contrast and clarity, and facilitating subsequent image processing and feature extraction. The lighting panel can use LED light sources, which have advantages such as low energy consumption, long lifespan, and fast response speed. It can also be integrated with an intelligent dimming system to automatically adjust the illumination parameters according to the characteristics of the workpiece, thereby realizing intelligent detection.

[0015] Compared with the prior art, the present invention has the following beneficial effects: This invention achieves efficient and accurate circumferential inspection of large workpieces through the collaborative design of the platform and the inspection mechanism. The coaxial structure of the platform and the drive motor ensure stable rotation of the workpiece and reduce eccentricity error. The dual linear module of the inspection mechanism allows the acquisition camera to be adjusted in multiple dimensions to adapt to workpieces of different sizes, eliminates blind spots, and solves the problems of distortion and blurring when shooting the edges of large workpieces in existing visual inspection equipment. It realizes automated inspection and improves efficiency and reliability. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a view showing the positions of the platform, testing mechanism, and lighting plate of this utility model. Figure 3 This is a structural view of the detection mechanism of this utility model; Figure 4 This is a view of the platform structure of this utility model; Figure 5 This is an exploded view of the platform structure of this utility model; Figure 6 This is a closed view of the upper cabinet door of the equipment cabinet of this utility model.

[0018] Drawing number explanation: 1. Equipment cabinet; 2. Platform; 21. Bearing plate; 22. Connecting shaft; 23. Sleeve; 24. Drive motor; 3. Detection mechanism; 31. Bracket; 32. First linear module; 33. Second linear module; 34. Acquisition camera; 35. Cover; 4. Lighting board. Detailed Implementation

[0019] The present invention will now be described in further detail with reference to the accompanying drawings.

[0020] The following description is intended to disclose the present invention so that those skilled in the art can implement it. The preferred embodiments described below are merely examples, and other obvious modifications will be apparent to those skilled in the art. The basic principles of the present invention defined in the following description can be used in other embodiments, modifications, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the present invention.

[0021] Those skilled in the art should understand that in the disclosure of this utility model, the terms "longitudinal", "lateral", "up", "down", "left", "right", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or position based on the orientation or positional relationship shown in the accompanying drawings. They are only for the purpose of simplifying the description of this utility model and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limitations on this utility model.

[0022] It is understood that the term "a" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element can be one, while in another embodiment, the number of the element can be multiple, and the term "a" should not be understood as a limitation on the number. Example

[0023] Please see Figure 1-6 A visual inspection robot includes an equipment cabinet 1, a platform 2, an inspection mechanism 3, and a lighting panel 4. The equipment cabinet 1 serves as the supporting frame for the entire device and has a pair of openable and closable cabinet doors. The equipment cabinet 1 provides a stable working platform. The platform 2 and the inspection mechanism 3 are both mounted on the cabinet panel of the equipment cabinet 1, forming a compact and orderly overall structure. The inspection mechanism 3 includes a camera 34. The platform 2 and the inspection mechanism 3 are configured to allow relative rotation between the workpiece and the camera 34 around a rotation axis.

[0024] The stage 2 includes a rotating support plate 21, a connecting shaft 22, a sleeve 23, and a drive motor 24. The rotating support plate 21 is a circular flat plate structure used to place the workpiece to be inspected. The connecting shaft 22 is vertically fixed at the center of the rotating support plate 21 and is coaxially arranged with the rotating support plate 21 to transmit rotational power. The sleeve 23 is sleeved on the outside of the connecting shaft 22 and located below the rotating support plate 21 to protect the connecting shaft 22. The drive motor 24 is located below the cabinet plate, and its output shaft passes through the cabinet plate and is connected to the connecting shaft 22. When the drive motor 24 starts, it drives the rotating support plate 21 to rotate around the rotation axis through the connecting shaft 22, thereby causing the workpiece to rotate accordingly.

[0025] The detection mechanism 3 includes a support 31, a first linear module 32, a second linear module 33, a camera 34, and a housing 35. The support 31 is fixedly mounted on the cabinet panel as a supporting structure for the detection mechanism 3. The first linear module 32 is a vertical moving module and is mounted on the support 31. The second linear module 33 is a horizontal moving module and is mounted on the moving part of the first linear module 32. The camera 34 is fixedly mounted on the moving part of the second linear module 33. Through the combined movement of the first linear module 32 and the second linear module 33, the camera 34 can be adjusted in multiple dimensions in the vertical and horizontal directions. The housing 35 is mounted on the slider of the second linear module 33 and surrounds the camera 34, protecting it from dust and light interference, and improving the image acquisition environment.

[0026] The lighting panel 4 is installed on the equipment cabinet 1 and is located within or near the field of view of the acquisition camera 34. It provides uniform and stable lighting conditions for image acquisition. The lighting panel 4 can use LED light source, which has the advantages of high brightness, low energy consumption and long life, and can effectively improve the clarity and contrast of the image.

[0027] The platform 2 is configured to drive the workpiece to rotate around the axis of rotation. When the vision inspection robot inspects the circumference of a large workpiece, it first places the workpiece on the carrier plate 21 of the platform 2. According to the size of the workpiece and the inspection requirements, the position of the acquisition camera 34 is adjusted by the first linear module 32 and the second linear module 33 so that the acquisition camera 34 is aligned with the circumference of the workpiece to be inspected. The drive motor 24 is started, and the drive motor 24 drives the carrier plate 21 and the workpiece to rotate at a constant speed around the axis of rotation through the connecting shaft 22. During the rotation of the workpiece, the acquisition camera 34 continuously acquires images of the circumference of the workpiece. At the same time, the illumination plate 4 provides stable lighting conditions to ensure that clear and accurate image data is acquired. The image data acquired by the acquisition camera 34 is transmitted to the image processing system. The image processing system analyzes and processes the image data, calculates the geometric parameters such as the circumference and roundness of the workpiece, and detects whether there are defects on the surface of the workpiece. Finally, the inspection results are output.

[0028] Those skilled in the art should understand that the embodiments of the present invention described above and shown in the accompanying drawings are merely examples and do not limit the present invention. The purpose of the present invention has been fully and effectively achieved. The functions and structural principles of the present invention have been shown and explained in the embodiments. Without departing from the stated principles, the implementation of the present invention may have any variations or modifications.

Claims

1. A vision inspection robot, characterized in that, include: Platform (2) is used to support the workpiece; The inspection mechanism (3) includes an acquisition camera (34) whose position can be adjusted along at least two mutually perpendicular directions, the acquisition camera (34) being configured to acquire images of the circumference of the workpiece; The stage (2) and the detection mechanism (3) are configured to allow relative rotation about the axis of rotation between the workpiece and the acquisition camera (34).

2. The vision inspection robot of claim 1, wherein: The platform (2) includes a bearing rotating plate (21) and a connecting rotating shaft (22). The bearing rotating plate (21) is used to place the workpiece. The connecting rotating shaft (22) is fixedly connected to the bearing rotating plate (21) and coaxially arranged to transmit rotational power.

3. The vision inspection robot of claim 2, wherein: The platform (2) also includes a drive motor (24), the output shaft of which is connected to a connecting shaft (22) to drive the bearing plate (21) to rotate around the rotation axis.

4. The vision inspection robot of claim 3, wherein: The detection mechanism (3) includes a bracket (31), a first linear module (32) and a second linear module (33). The acquisition camera (34) is mounted on the moving part of the second linear module (33). The first linear module (32) is mounted on the bracket (31) and is used to drive the acquisition camera (34) to move along a first direction. The second linear module (33) is mounted on the moving part of the first linear module (32) and is used to drive the acquisition camera (34) to move along a second direction. The first direction and the second direction are perpendicular to each other.

5. The vision inspection robot of claim 4, wherein: The equipment cabinet (1) includes a cabinet panel, the platform (2) and the testing mechanism (3) are mounted on the cabinet panel, the driving device of the platform (2) is located below the cabinet panel, and the bearing plate (21) is located above the cabinet panel.

6. The vision inspection robot of claim 5, wherein: The first linear module (32) is a vertical moving module, and the second linear module (33) is a horizontal moving module.

7. The vision inspection robot of claim 6, wherein: The detection mechanism (3) also includes a housing (35), which is disposed on the moving part of the second linear module (33), and the acquisition camera (34) is located inside the housing (35).

8. The vision inspection robot of claim 7, wherein: The platform (2) also includes a sleeve (23), which is located below the bearing rotating plate (21) and is fitted over the connecting rotating shaft (22).

9. The vision inspection robot of claim 8, wherein: The equipment cabinet (1) is equipped with a lighting panel (4), which is located within or near the field of view of the acquisition camera (34).

Images