CN102825605A - Material delivering robot with visual detecting function - Google Patents
Material delivering robot with visual detecting function Download PDFInfo
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- CN102825605A CN102825605A CN2012103380272A CN201210338027A CN102825605A CN 102825605 A CN102825605 A CN 102825605A CN 2012103380272 A CN2012103380272 A CN 2012103380272A CN 201210338027 A CN201210338027 A CN 201210338027A CN 102825605 A CN102825605 A CN 102825605A
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- 239000000463 material Substances 0.000 title claims abstract description 98
- 230000000007 visual effect Effects 0.000 title abstract 4
- 230000007246 mechanism Effects 0.000 claims abstract description 66
- 238000005242 forging Methods 0.000 claims abstract description 9
- 238000001514 detection method Methods 0.000 claims description 24
- 230000003028 elevating effect Effects 0.000 claims description 16
- 238000012546 transfer Methods 0.000 claims description 9
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- 230000003139 buffering effect Effects 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 4
- 238000004513 sizing Methods 0.000 claims description 3
- 208000037873 arthrodesis Diseases 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 7
- 230000008569 process Effects 0.000 abstract description 7
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Abstract
The invention discloses a material delivering robot with a visual detecting function, which comprises a control system, a visual detecting system and a material delivering system; the material delivering system comprises a material sliding mechanism and a delivering manipulator. The visual detecting system analyzes and judges the material temperature, gesture and other conditions in an analyzing module through collecting a material image at a terminal of the sliding mechanism and a material image in a forging device, and further controlling the action of the delivering manipulator through the control system according to the judgment result. The delivering manipulator of the material delivering system can effectively ensure the precision of repeatedly grabbing materials through the cooperation of a joint capable of moving and positioning on a three-dimensional direction. Furthermore, the material delivering robot is high in degree of automation; the qualified product can be automatically detected and judged in the process of delivering the material, and thus the processing efficiency of the product is effectively improved.
Description
Technical field
The present invention is that a kind of material with vision-based detection function is transferred robot, is applied to field of machining.
Background technology
In recent years; Along with deepening continuously of rapid development of social economy and Robotics research; Commercial production has progressively begun to develop towards automation, intelligentized direction from the mode that relies on manual work to transport material; This mode not only efficient is high, and greatly reduces workman's potential danger in operation.But at present the ordinary robot in the industry have mostly that function is specific, the shortcoming of narrow in application range, positioning accuracy difference, and the common complex structure of the robot of multifunctional intelligent, manufacturing cost are high.
Summary of the invention
Technical purpose of the present invention is the defective that overcomes prior art, and a kind of cooperation that utilizes simple mechanism is provided, and realizes that material detects and accurate a kind of material with vision-based detection function of transferring function is transferred robot.
Technical scheme of the present invention is:
A kind of material with vision-based detection function is transferred robot, it is characterized in that, is provided with control system and vision detection system that is connected with the control system respectively and material transfer system:
Said vision detection system is provided with the processor module of camera head and analysis image; Said processor module is connected with the control system; Said camera head comprises first camera of aiming at the terminal charge cask of material coasting mechanism and second camera of monitoring material situation in the forging equipment die cavity; So that gather the image of material the material image that falls from coasting mechanism and the process, the control system controls next step action of feeding mechanical hand according to the graphical analysis result of processor.
Said material transfer system is provided with material coasting mechanism and feeding mechanical hand.
Further, said feeding mechanical hand comprises the articulation mechanism of material grabbing mechanism and control material grabbing mechanism displacement vector.
Said articulation mechanism can be by constituting with in the lower unit joint one or more:
A), be responsible for the vertical lifting joint of vertical direction (being that Z is axial) displacement adjustment:
Said vertical lifting joint is provided with the frame base and first workbench; Be provided with a vertical cylinder in the said frame base; Its piston rod is upwards flexible, and vertically the top of cylinder piston rod is connected with first stationary table, and first workbench is moved up and down along with the motion of vertical cylinder piston rod;
B), be responsible for the laterally transverse translation joint of (being X axis) displacement adjustment;
Said transverse translation joint is provided with the cross-brace frame; Said cross-brace frame is equipped with horizontal guide rail; And the lateral cylinder of piston rod along transversal stretching is set at guide rail one end; Cross slide way is put on the shelf and is provided with slidably second workbench, and a side of said second workbench is connected with the piston rod of lateral cylinder, through the piston motion control second workbench lateral displacement of lateral cylinder;
C), be responsible for the vertically longitudinal extension joint of (being that Y is axial) displacement adjustment:
Said longitudinal extension joint is provided with the longitudinal bracing frame; Said longitudinal bracing has set up guide rail longitudinally; And the longitudinally flexible vertical cylinder of piston rod is set at guide rail one end; Longitudinal rail is put on the shelf and is provided with slidably the 3rd workbench, and a side of said the 3rd workbench is connected with the piston rod of vertical cylinder, through piston motion control the 3rd workbench length travel of vertical cylinder.
Simultaneously, each joint, unit that constitutes above-mentioned articulation mechanism when mounted, bottom-up stacked connection, the unit arthrodesis of top is arranged on the workbench in joint, unit, below.
Further, said material grabbing mechanism comprises the elevating mechanism and the jaw unit of a setting, and said elevating mechanism is arranged on the workbench in joint, unit, articulation mechanism the top, and said jaw unit is fixed on the said elevating mechanism through connecting elements.
Further; The frame base in said vertical lifting joint is provided with the guide pillar of some settings; Be with the slide block that can slide up and down on the said guide pillar respectively; The bottom of said first workbench is provided with and the vertical parallel some support columns of cylinder piston rod, and the bottom of said support column is separately fixed on the corresponding guide pillar slide block.
Further, the elevating mechanism side of said material grabbing mechanism is provided with the guide rail of setting and is enclosed within the slide block on this guide rail, is provided with vertical this slide block of cylinder drive in the elevating mechanism and moves up and down, and the end of said jaw unit is fixed on this slide block.Through the vertical cylinder of material grabbing mechanism, can further among a small circle, adjust the height of jaw unit.
Further, said jaw unit comprises one group of parallel relative clamping limb, and the gripper cylinder that is provided with two out movements controls the clamp distance of said clamping limb, and the end of said clamping limb is connected with the slide block of elevating mechanism through a fixed platform.
Two above-mentioned clamping limbs are arranged with grip block in its relative one side, and said grip block is provided with the groove that blocks material, and as preferably, said groove adopts V-type or U type groove.And to different clamping workpiece, said grip block should correspondingly select to have the made of performance such as high temperature resistant, corrosion-resistant.
Said cross-brace frame or longitudinal bracing frame are provided with buffering locator at the other end of its guide rail; Said second workbench or the 3rd workbench slide between driving cylinder (being lateral cylinder or vertical cylinder) and buffering locator, play bumper and absorbing shock, pinpoint effect.
Said material coasting mechanism is provided with the balancer of control charge cask upset at its end, and said balancer is connected with the control system, promptly moves balancer when vision detection system detects material after defective, and bar is dropped out from charge cask.
Said material coasting mechanism is provided with high temperature bar sizing separator at charging aperture, prevents that the adhesion material from getting into the material coasting mechanism.
Beneficial effect of the present invention:
The qualified material that the present invention gets into process equipment through the camera head screening, and the situation of monitoring material in process, the cooperative mechanical hand reduces the action that material grabbing mechanism grasps substandard product, increases work efficiency.And utilize simple and easy parts such as cylinder, support, slide block to manufacture the turning joint module of manipulator, each turning joint module is controlled a displacement on the direction respectively, but independent operating, also interchangeable position after the connection, flexible design.The operation precision of manipulator of the present invention is high, easy to control, has good clamping effect, cost of manufacture is low, safeguards the detachable mounted advantage easily.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is the structural representation of high temperature bar separating mechanism;
Fig. 3 is the structural representation of bar coasting mechanism;
Fig. 4 is the structural representation of feeding mechanical arm device;
Fig. 5 is the structural representation in vertical lifting joint;
Fig. 6 is the structural representation in transverse translation and longitudinal extension joint;
Fig. 7 is the structural representation of material grabbing mechanism.
The specific embodiment
In order to illustrate technical scheme of the present invention and technical purpose, the present invention is done further introduction below in conjunction with accompanying drawing and specific embodiment.
A kind of material with vision-based detection function is transferred robot, is provided with control system and vision detection system that is connected with the control system respectively and material transfer system, and said material transfer system is provided with material coasting mechanism 2 and feeding mechanical hand 5.
As shown in Figure 1, said material transfer system is arranged between the discharging opening and forging machine tool 3 of intermediate frequency furnace 1, and the charge bar that comes out from intermediate frequency furnace 1 is sent to the position near forging machine tool 3 through material coasting mechanism 2.Said vision detection system is provided with the processor module of camera head and analysis image; Said processor module is connected with the control system, and said camera head comprises first camera 61 and second camera 62 of monitoring material situation in the forging equipment die cavity of aiming at material coasting mechanism 2 terminal charge casks.In equipment when operation,, said first camera 61 and second camera 62 can be respectively be transferred to the control platform with the image of its collection, and through the display screen demonstration, make the staff can observe the state of material in real time.
Said material coasting mechanism 1 is provided with high temperature bar sizing separator 4 at charging aperture, and this device supports the discharging opening that fixed head 15 is fixed in intermediate frequency furnace 1 through integral body, and is as shown in Figure 2; Above the charging aperture of material coasting mechanism 1, be provided with one through fixing branch bolster 10 and strike material cylinder 7, this device of position of aiming at intermediate frequency furnace 1 discharging opening is provided with a horizontal slideway 12, and horizontal slideway 12 is fixed on the whole supporting fixed head 15 through supporting structure 14; Horizontal slideway 12 two sides are provided with protection catch 13; Horizontal slideway 12 is provided with a semicircular ring cover 11, is provided with block 9 at the front end of horizontal slideway 12, and the high temperature charge bar slips over semicircle cover 11 successively from intermediate frequency furnace 1 discharging opening; Stick together like material; Then the last material of adhesion is placed and strike the material cylinder 7 times, following compression leg 8 knocks downwards last material through the drive of striking the material cylinder piston rod, and itself and back material are broken away from; In the blanking slide rail 18 of coasting mechanism 3, glide; The back material is spacing down fixing at semicircular ring cover 11 then, block 9 spacing down, avoided charge bar stretch out forward long can not be from horizontal slideway 12 situation in blanking slide rail 18 that accurately drops.
As shown in Figure 3; Charge bar slides in slideway in the process through induction installation 17 countings; After in it is slipped to the terminal material cup 19 of slide rail; The control system starts first camera 61, gathers the image of charge bar, and judges according to its color element whether scorching hot high temperature charge bar temperature meets the following process standard.If it is defective to be pushed the charge bar temperature that gets into the material cup, then control system operation balancer 20 is toppled over material cup 19, and charge bar is fallen; The material cup resets subsequently, and first camera 61 continues to detect next charge bar, after detecting certified products; Drive feeding mechanical hand 5; With this high temperature charge bar clamping and send in the die cavity of forging machine tool 3, gather the pose of material in the die cavitys afterwards through second camera 62, topple over or other abnormal conditions take place through judging with the test pattern match that charge bar has or not.Forging machine tool is when forging operation to high-temperature material, if abnormal conditions take place, it is out of service that the control system controls whole material transfer system, and guarantees that lathe does not does not forge and press operation, waits for artificial treatment.
Said feeding mechanical hand 5 comprises material grabbing mechanism and articulation mechanism; Said articulation mechanism is made up of several unit joint module assemblings; These joints, unit are controlled machinery respectively and are held the displacement vector of material mechanism on X axle, Y axle or Z axle in hand; And the motion in joint, a certain unit is delivered on other module, thereby realize the position location of material grabbing mechanism in three dimensions through connection.
Said articulation mechanism can be constituted by in the said units joint one or more, and the position is interchangeable.Be example with a specific embodiment, as shown in Figure 4, this articulation mechanism is bottom-up to be comprised successively:
A), vertical lifting joint;
Said vertical lifting joint is provided with the supporting mechanism whole frame base 25 and first workbench 23, is provided with a vertical cylinder 22 in the said frame base 25, and its piston rod is upwards flexible, and vertically the top of cylinder piston rod is fixedly connected with first working plate 23.Frame base 25 is provided with the guide pillar of setting in the bilateral symmetry of vertical cylinder 22; Be with the slide block 21 that can slide up and down on the said guide pillar; Said first workbench 23 four jiaos of its bottom respectively be provided with one with the vertical parallel support column 24 of cylinder piston rod; Said support column 24 bottoms are fixed on the slide block 21 of a side in twos, further ensure the stability in the 23 up folding processes of first workbench, and are as shown in Figure 5.
B), transverse translation joint;
Said transverse translation joint is provided with cross-brace frame 27; Said cross-brace frame 27 is installed on the platen of first workbench 23 in vertical lifting joint; The cross-brace frame is equipped with horizontal guide rail 30, and at the left end of guide rail 30 the flexible lateral cylinder 26 of piston rod is set to the right, and said guide rail 30 is put on the shelf and is provided with second workbench that can slide along guide rail 30; The left side of said second workbench is connected with the piston rod of lateral cylinder 26, and is as shown in Figure 6.
C), longitudinal extension joint;
Said longitudinal extension joint is provided with longitudinal bracing frame 31; Said longitudinal bracing frame 31 is installed on the platen of transverse translation joint first workbench; Longitudinal bracing frame 31 is provided with guide rail 32 longitudinally; And be provided with the vertical cylinder 33 of a piston rod to front stretching in guide rail 32 rear ends, and guide rail 32 is provided with the 3rd workbench 28 that can slide along guide rail, and the rear side of said the 3rd workbench 28 is connected with the piston rod of vertical cylinder 33.The longitudinal bracing frame promptly is provided with oil buffer 29 with vertical cylinder 33 relative other ends at the front end of guide rail 32, and said the 3rd workbench 28 is vertically sliding between cylinder 33 and the oil buffer 29, and is as shown in Figure 6.
As shown in Figure 7, the material grabbing mechanism of said manipulator comprises the elevating mechanism 40 and jaw unit of a setting, and said elevating mechanism 40 is arranged on the framework board 41, and said framework board 41 is fixed on the 3rd workbench 28 in longitudinal extension joint.The guide rail that elevating mechanism 40 sides of said material grabbing mechanism are provided with setting be enclosed within the slide block 38 on this guide rail, be provided with a vertical cylinder 39 drive slide blocks 38 in the elevating mechanism 40 and move up and down along guide pillar.Said jaw unit comprises the one group of parallel relative clamping limb 36 and the gripper cylinder 35 of two out movements; The clamping limb 36 terminal fixed platforms 34 of passing through are connected with said slide block 38; Two gripper cylinders 35 are fixed on the both sides of said fixed platform 34 table tops symmetrically; The piston rod of gripper cylinder 35 is connected with the clamping wall of one of which respectively, controls two clamping limb 36 relative motions.Two clamping limbs 36 are arranged with grip block 37 in its relative one side, and said grip block 37 is provided with V-type or the U type groove that blocks material.During operation, said gripper cylinder 35 is controlled the distance between two grip blocks 37 according to the size of material diameter.
Each above-mentioned air cylinder device is connected with the control system respectively.
More than show and described basic principle of the present invention, principal character and advantage of the present invention.The technical staff of the industry should understand; The present invention is not restricted to the described embodiments; That describes in the foregoing description and the specification just explains principle of the present invention; Under the prerequisite that does not break away from spirit and scope of the invention, the present invention also has various changes and modifications, and these variations and improvement all fall in the scope of the invention that requires protection.The present invention requires protection domain to be defined by appending claims and equivalent thereof.
Claims (12)
1. the material with vision-based detection function is transferred robot, it is characterized in that, is provided with control system and the vision detection system that is connected with the control system respectively, material transfer system:
Said vision detection system is provided with the processor module of camera head and analysis image; Said processor module is connected with the control system, and said camera head comprises first camera of aiming at the terminal charge cask of material coasting mechanism and second camera of monitoring material situation in the forging equipment die cavity;
Said material transfer system is provided with material coasting mechanism and feeding mechanical hand.
2. a kind of material with vision-based detection function according to claim 1 is transferred robot, it is characterized in that, said feeding mechanical hand comprises the articulation mechanism of material grabbing mechanism and control material grabbing mechanism displacement vector.
3. a kind of material with vision-based detection function according to claim 2 is transferred robot, it is characterized in that, said articulation mechanism is by constituting with in the lower unit joint one or more:
A), vertical lifting joint;
Said vertical lifting joint structure is provided with the frame base and first workbench, is provided with vertical cylinder in the said frame base, and its piston rod is upwards flexible, and vertically the top of cylinder piston rod is connected with first stationary table;
B), transverse translation joint;
Said transverse translation joint is provided with the cross-brace frame; Said cross-brace frame is equipped with horizontal guide rail; And the lateral cylinder of piston rod along transversal stretching is set at guide rail one end; Cross slide way is put on the shelf and is provided with slidably second workbench, and a side of said second workbench is connected with the piston rod of lateral cylinder;
C), longitudinal extension joint;
Said longitudinal extension joint is provided with the longitudinal bracing frame; Said longitudinal bracing frame is equipped with guide rail longitudinally; And the longitudinally flexible vertical cylinder of piston rod is set at guide rail one end; Longitudinal rail is put on the shelf and is provided with slidably the 3rd workbench, and a side of said the 3rd workbench is connected with the piston rod of vertical cylinder;
Constitute the bottom-up stacked connection in each joint, unit of said articulation mechanism, the unit arthrodesis of top is arranged on the workbench in joint, unit, below.
4. a kind of material with vision-based detection function according to claim 3 is transferred robot; It is characterized in that; Said material grabbing mechanism comprises the elevating mechanism and the jaw unit of a setting; Said elevating mechanism is arranged on the workbench in joint, unit, said articulation mechanism the top, and said jaw unit is fixed on the said elevating mechanism through connecting elements.
5. a kind of material with vision-based detection function according to claim 3 is transferred robot; It is characterized in that; The frame base in said vertical lifting joint is provided with the guide pillar of some settings; Be with the slide block that can slide up and down on the said guide pillar respectively, the bottom of said first workbench is provided with and the vertical parallel some support columns of cylinder piston rod, and the bottom of said support column is separately fixed on the corresponding guide pillar slide block.
6. a kind of material with vision-based detection function according to claim 4 is transferred robot; It is characterized in that; The elevating mechanism side of said material grabbing mechanism is provided with the guide rail of setting and is enclosed within the slide block on this guide rail; Be provided with a vertical cylinder in the elevating mechanism and drive said slide block and move up and down, the end of said jaw unit is fixed on the said slide block.
7. a kind of material with vision-based detection function according to claim 6 is transferred robot; It is characterized in that; Said jaw unit comprises one group of parallel relative clamping limb; And the gripper cylinder that is provided with two out movements controls the clamp distance of said clamping limb, and the end of said clamping limb is connected with the slide block of elevating mechanism through a fixed platform.
8. a kind of material with vision-based detection function according to claim 7 is transferred robot, it is characterized in that two clamping limbs are arranged with grip block in its relative one side, and said grip block is provided with the groove that blocks material.
9. a kind of material with vision-based detection function according to claim 8 is transferred robot, it is characterized in that the groove that blocks material on the said grip block is V-type or U type groove.
10. a kind of material with vision-based detection function according to claim 3 is transferred robot; It is characterized in that; Said cross-brace frame or longitudinal bracing frame are provided with buffering locator at the other end of its guide rail, and said second workbench or the 3rd workbench slide between driving cylinder and buffering locator.
11. transfer robot according to the described a kind of material of arbitrary claim among the claim 1-10 with vision-based detection function; It is characterized in that; Said material coasting mechanism is provided with the balancer that the control charge cask overturns at its end, and said balancer is connected with the control system.
12. a kind of material with vision-based detection function according to claim 11 is transferred robot, it is characterized in that said material coasting mechanism is provided with high temperature bar sizing separator at charging aperture.
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| CN103383359A (en) * | 2013-07-22 | 2013-11-06 | 爱彼思（苏州）自动化科技有限公司 | Color difference analytical device based on image recognition technology |
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