CN102825605B - Material delivering robot with visual detecting function - Google Patents

Material delivering robot with visual detecting function Download PDF

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Publication number
CN102825605B
CN102825605B CN201210338027.2A CN201210338027A CN102825605B CN 102825605 B CN102825605 B CN 102825605B CN 201210338027 A CN201210338027 A CN 201210338027A CN 102825605 B CN102825605 B CN 102825605B
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CN
China
Prior art keywords
vision
workbench
joint
detection function
transfer robot
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CN201210338027.2A
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Chinese (zh)
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CN102825605A (en
Inventor
张伟
程胜
唐粲
龚淳
毛代西
徐俊峰
陈燕云
张建伟
李新涛
Original Assignee
昆山市工业技术研究院有限责任公司
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Priority to CN201210338027.2A priority Critical patent/CN102825605B/en
Publication of CN102825605A publication Critical patent/CN102825605A/en
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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

There is the material transfer robot of vision-based detection function

Technical field

The present invention is a kind of material transfer robot with vision-based detection function, is applied to field of machining.

Background technology

In recent years, along with deepening continuously of socioeconomic develop rapidly and Robotics research, industrial production from rely on artificial mode of transporting material progressively towards automation, intelligentized future development, this mode not only efficiency is high, and greatly reduces workman's danger potential in operation.But there is the shortcoming that function is specific, range of application is narrow, positioning precision is poor in the ordinary robot at present in industry, and the usual complex structure of the robot of multifunctional intelligent, manufacturing cost high mostly.

Summary of the invention

Technical purpose of the present invention is the defect overcoming prior art, provides a kind of cooperation utilizing simple mechanism, realizes material and detects a kind of material transfer robot with vision-based detection function with accurate transfer function.

Technical scheme of the present invention is:

There is a material transfer robot for vision-based detection function, it is characterized in that, be provided with control system and the vision detection system be connected with control system respectively and material transfer system:

Described vision detection system is provided with the processor module of camera head and analysis chart picture, described processor module is connected with control system, described camera head comprises the first camera aiming at material coasting mechanism end charge cask and the second camera monitoring material situation in forging equipment die cavity, so that gather the image of material the material image and process fallen from coasting mechanism, control system controls next step action of feeding mechanical hand according to the image analysis result of processor.

Described material transfer system is provided with material coasting mechanism and feeding mechanical hand.

Further, described feeding mechanical hand comprises material grabbing mechanism and controls the articulation mechanism of material grabbing mechanism displacement vector.

Described articulation mechanism can be formed by with one or more combinations in lower unit joint:

A) the vertical lifting joint of vertical direction (i.e. Z-axis direction) adjustment of displacement, is responsible for:

Described vertical lifting joint is provided with frame base and the first workbench, a vertical cylinder is provided with in described frame base, its piston rod upwards stretches, and the top of vertical cylinder piston rod is fixedly connected with the first workbench, and the first workbench is moved up and down along with the motion of vertical cylinder piston rod;

B) the transverse translation joint of laterally (i.e. X axis) adjustment of displacement, is responsible for;

Described transverse translation joint is provided with cross-brace frame, described cross-brace frame is equipped with horizontal guide rail, and the lateral cylinder that piston rod transversely stretches is set in guide rail one end, cross slide way is added is provided with slidably the second workbench, the described side of the second workbench is connected with the piston rod of lateral cylinder, controls the second workbench lateral displacement by the piston movement of lateral cylinder;

C) the longitudinal extension joint of longitudinally (i.e. Y-axis) adjustment of displacement, is responsible for:

Described longitudinal extension joint is provided with longitudinal bracing frame, described longitudinal bracing erection has longitudinal guide rail, and the longitudinally flexible longitudinal cylinder of piston rod is set in guide rail one end, longitudinal rail is added is provided with slidably the 3rd workbench, the side of described 3rd workbench is connected with the piston rod of longitudinal cylinder, controls the 3rd workbench length travel by the piston movement of longitudinal cylinder.

Meanwhile, form each unit joint of above-mentioned articulation mechanism when mounted, bottom-up stacked connection, the unit arthrodesis of top is arranged on the workbench in lower unit joint.

Further, described material grabbing mechanism comprises elevating mechanism and the jaw unit of a setting, and described elevating mechanism is arranged on the workbench in unit joint, articulation mechanism the top, and described jaw unit is fixed on described elevating mechanism by connecting elements.

Further, the frame base in described vertical lifting joint is provided with the guide pillar of some settings, described guide pillar overlaps the slide block that can slide up and down respectively, the bottom of described first workbench is provided with the some support columns parallel with vertical cylinder piston rod, and the bottom of described support column is separately fixed on corresponding guide pillar slide block.

Further, the elevating mechanism side of described material grabbing mechanism is provided with the guide rail of setting and cover slide block on the guideway, and be provided with a vertical cylinder in elevating mechanism and drive this slide block to move up and down, the end of described jaw unit is fixed on this slide block.By the vertical cylinder of material grabbing mechanism, the height of jaw unit can be adjusted further among a small circle.

Further, described jaw unit comprises one group of parallel relative clamping limb, and the gripper cylinder being provided with two out movements controls the clamp distance of described clamping limb, and the end of described clamping limb is connected with the slide block of elevating mechanism by a fixed platform.

Two above-mentioned clamping limbs are arranged with grip block in its relative one side, and described grip block is provided with the groove blocking material, and as preferably, described groove adopts V-type or U-shaped groove.And for different holding workpieces, described grip block correspondingly should select to have the material manufacture of the performance such as high temperature resistant, corrosion-resistant.

Described cross-brace frame or longitudinal bracing frame are provided with buffering locator at the other end of its guide rail, described second workbench or the 3rd workbench slide between driving cylinder (i.e. lateral cylinder or longitudinal cylinder) and buffering locator, play bumper and absorbing shock, pinpoint effect.

Described material coasting mechanism is provided with the balancer controlling charge cask upset at its end, described balancer is connected with control system, when vision detection system detects that namely material runs balancer after defective, bar is dropped out from charge cask.

Described material coasting mechanism is provided with high temperature bar sizing separator at charging aperture, prevents adhesion material from entering material coasting mechanism.

Beneficial effect of the present invention:

The present invention enters the qualified material of process equipment by camera head screening, and monitors the situation of material in process, cooperative mechanical hand, reduces the action that material grabbing mechanism captures substandard product, increases work efficiency.And utilizing the simple and easy parts such as cylinder, support, slide block to manufacture the turning joint module of manipulator, each turning joint module controls the displacement on a direction respectively, can independent operating, also interchanging positions after 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, easily safeguards, detachable mounted advantage.

Accompanying drawing explanation

Fig. 1 is 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.

Detailed description of the invention

In order to illustrate technical scheme of the present invention and technical purpose, below in conjunction with drawings and the specific embodiments, the present invention is described further.

Have a material transfer robot for vision-based detection function, be provided with control system and the vision detection system be connected with control system respectively and material transfer system, described material transfer system is provided with material coasting mechanism 2 and feeding mechanical hand 5.

As shown in Figure 1, described material transfer system is arranged between the discharging opening of intermediate frequency furnace 1 and forging machine tool 3, is sent to position near forging machine tool 3 from intermediate frequency furnace 1 charge bar out by material coasting mechanism 2.Described vision detection system is provided with the processor module of camera head and analysis chart picture, described processor module is connected with control system, and described camera head comprises the first camera 61 aiming at material coasting mechanism 2 end charge cask and the second camera 62 monitoring material situation in forging equipment die cavity.When equipment runs, the image transmitting that described first camera 61 and second camera 62 can be gathered respectively to parametric controller, and is shown by display screen, makes staff can observe the state of material in real time.

Described material coasting mechanism 1 is provided with high temperature bar sizing separator 4 at charging aperture, this device is fixed on the discharging opening of intermediate frequency furnace 1 by overall supporting and fixing plate 15, as shown in Figure 2, above the charging aperture of material coasting mechanism 1, arrange one by fixed bearing beam 10 and strike material cylinder 7, this device of position aiming at intermediate frequency furnace 1 discharging opening is provided with a horizontal slide 12, horizontal slide 12 is fixed on overall supporting and fixing plate 15 by supporting structure 14, horizontal slide 12 two sides are provided with protection catch 13, horizontal slide 12 is provided with a semicircular ring cover 11, block 9 is provided with in the front end of horizontal slide 12, high temperature charge bar slips over semicircle cover 11 successively from intermediate frequency furnace 1 discharging opening, as material sticks together, then the last material of adhesion is placed in and strikes material cylinder 7 times, lower compression leg 8 is knocked downwards last material by the drive of striking material cylinder piston rod, itself and material are below departed from, glide in the blanking slide rail 18 of coasting mechanism 3, material is then fixed at the spacing lower of semicircular ring cover 11 below, block 9 spacing under, avoid charge bar and stretch out forward the long situation that accurately can not drop in blanking slide rail 18 from horizontal slide 12.

As shown in Figure 3, charge bar is counted by induction installation 17 in taxiing procedures in slideway, after in the material cup 19 that it is slipped to slide rail end, control system starts the first camera 61, gather the image of charge bar, and judge whether scorching hot high temperature charge bar temperature meets following process standard according to its color element.If the charge bar temperature entering material cup pushed is defective, then material cup 19 toppled over by control system operation balancer 20, charge bar is fallen, expect that cup resets subsequently, the first camera 61 continues to detect next charge bar, until after certified products being detected, drive feeding mechanical hand 5, this high temperature charge bar clamped and sends in the die cavity of forging machine tool 3, being gathered the pose of material in die cavity afterwards by second camera 62, by judging that charge bar is with or without to topple over or other abnormal conditions occur with test pattern matching.Forging machine tool is when forging operation to high-temperature material, if there are abnormal conditions, it is out of service that control system controls whole material transfer system, and ensures that lathe does not carry out forging operation, waits for artificial treatment.

Described feeding mechanical hand 5 comprises material grabbing mechanism and articulation mechanism, described articulation mechanism is assembled by several unit joint modules and is formed, these unit joints control the displacement vector of manipulator material grabbing mechanism on X-axis, Y-axis or Z axis respectively, and make the Movement transmit in a certain unit joint in other module by connecting, thus realize the position location of material grabbing mechanism in three dimensions.

Described articulation mechanism can be made up of one or more combinations in said units joint, and position is interchangeable.For a detailed description of the invention, as shown in Figure 4, this articulation mechanism is bottom-up comprises successively:

A), vertical lifting joint;

Described vertical lifting joint is provided with frame base 25 and first workbench 23 of supporting mechanism entirety, and be provided with a vertical cylinder 22 in described frame base 25, its piston rod upwards stretches, and the top of vertical cylinder piston rod is fixedly connected with the first working plate 23.Frame base 25 is provided with the guide pillar of setting in the bilateral symmetry of vertical cylinder 22, described guide pillar overlaps the slide block 21 that can slide up and down, described first corner of workbench 23 bottom it is respectively provided with a support column 24 parallel with vertical cylinder piston rod, be fixed between two bottom described support column 24 on the slide block 21 of side, stability in the up folding process of further guarantee first workbench 23, as shown in Figure 5.

B), transverse translation joint;

Described transverse translation joint is provided with cross-brace frame 27, described cross-brace frame 27 is arranged on the platen of the first workbench 23 in vertical lifting joint, cross-brace frame is equipped with horizontal guide rail 30, and the lateral cylinder 26 that piston rod stretches to the right is set at the left end of guide rail 30, described guide rail 30 is added is provided with second workbench that can slide along guide rail 30, the left side of described second workbench is connected with the piston rod of lateral cylinder 26, as shown in Figure 6.

C), longitudinal extension joint;

Described longitudinal extension joint is provided with longitudinal bracing frame 31, described longitudinal bracing frame 31 is arranged on the platen of transverse translation joint first workbench, longitudinal bracing frame 31 is provided with longitudinal guide rail 32, and be provided with the longitudinal cylinder 33 of a piston rod to front stretching in guide rail 32 rear end, guide rail 32 is provided with can along the 3rd workbench 28 of slide, and the rear side of described 3rd workbench 28 is connected with the piston rod of longitudinal cylinder 33.Longitudinal bracing frame is in the front end of guide rail 32, and namely relative with longitudinal cylinder 33 other end is provided with oil buffer 29, and described 3rd workbench 28 slides between longitudinal cylinder 33 and oil buffer 29, as shown in Figure 6.

As shown in Figure 7, the material grabbing mechanism of described manipulator comprises elevating mechanism 40 and the jaw unit of a setting, and described elevating mechanism 40 is arranged on a framework board 41, and described framework board 41 is fixed on the 3rd workbench 28 in longitudinal extension joint.Elevating mechanism 40 side of described material grabbing mechanism is provided with guide rail and the cover slide block 38 on the guideway of setting, is provided with a vertical cylinder 39 and is with movable slider 38 to move up and down along guide pillar in elevating mechanism 40.Described jaw unit comprises the gripper cylinder 35 of one group of parallel relative clamping limb 36 and two out movements, clamping limb 36 end is connected with described slide block 38 by a fixed platform 34, two gripper cylinders 35 are fixed on the both sides of described fixed platform 34 table top symmetrically, the piston rod of gripper cylinder 35 is connected with the clamping wall of one respectively, controls the relative motion of two clamping limbs 36.Two clamping limbs 36 are arranged with grip block 37 in its relative one side, and described grip block 37 is provided with the V-type or U-shaped groove of blocking material.During operation, described gripper cylinder 35 controls the distance between two grip blocks 37 according to the size of material diameter.

Above-mentioned each air cylinder device is connected with control system respectively.

More than show and describe general 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; what describe in above-described embodiment and description just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.Application claims protection domain is defined by appending claims and equivalent thereof.

Claims (12)

1. there is a material transfer robot for vision-based detection function, it is characterized in that, be provided with control system and the vision detection system be connected with control system respectively, material transfer system:
Described vision detection system is provided with the processor module of camera head and analysis chart picture, described processor module is connected with control system, and described camera head comprises the first camera aiming at material coasting mechanism end charge cask and the second camera monitoring material situation in forging equipment die cavity; The image of the first described camera collection charge bar, processor module judges scorching hot high temperature charge bar temperature according to the color element of charge bar, described second camera gathers the pose of material in die cavity, with test pattern matching, described processor module is by judging that charge bar is with or without toppling over;
Described material transfer system is provided with material coasting mechanism and feeding mechanical hand.
2. a kind of material transfer robot with vision-based detection function according to claim 1, it is characterized in that, described feeding mechanical hand comprises material grabbing mechanism and controls the articulation mechanism of material grabbing mechanism displacement vector.
3. a kind of material transfer robot with vision-based detection function according to claim 2, it is characterized in that, described articulation mechanism is formed by with one or more combinations in lower unit joint:
A), vertical lifting joint;
Described vertical lifting joint structure is provided with frame base and the first workbench, and be provided with vertical cylinder in described frame base, its piston rod upwards stretches, and the top of vertical cylinder piston rod is fixedly connected with the first workbench;
B), transverse translation joint;
Described transverse translation joint is provided with cross-brace frame, described cross-brace frame is equipped with horizontal guide rail, and the lateral cylinder that piston rod transversely stretches is set in guide rail one end, cross slide way is added is provided with slidably the second workbench, and the described side of the second workbench is connected with the piston rod of lateral cylinder;
C), longitudinal extension joint;
Described longitudinal extension joint is provided with longitudinal bracing frame, described longitudinal bracing frame is equipped with longitudinal guide rail, and the longitudinally flexible longitudinal cylinder of piston rod is set in guide rail one end, longitudinal rail is added is provided with slidably the 3rd workbench, and the side of described 3rd workbench is connected with the piston rod of longitudinal cylinder;
Form the bottom-up stacked connection in each unit joint of described articulation mechanism, the unit arthrodesis of top is arranged on the workbench in lower unit joint.
4. a kind of material transfer robot with vision-based detection function according to claim 3, it is characterized in that, described material grabbing mechanism comprises elevating mechanism and the jaw unit of a setting, described elevating mechanism is arranged on the workbench in unit joint, described articulation mechanism the top, and described jaw unit is fixed on described elevating mechanism by connecting elements.
5. a kind of material transfer robot with vision-based detection function according to claim 3, it is characterized in that, the frame base in described vertical lifting joint is provided with the guide pillar of some settings, described guide pillar overlaps the slide block that can slide up and down respectively, the bottom of described first workbench is provided with the some support columns parallel with vertical cylinder piston rod, and the bottom of described support column is separately fixed on corresponding guide pillar slide block.
6. a kind of material transfer robot with vision-based detection function according to claim 4, it is characterized in that, the elevating mechanism side of described material grabbing mechanism is provided with the guide rail of setting and cover slide block on the guideway, being provided with a vertical cylinder in elevating mechanism drives described slide block to move up and down, and the end of described jaw unit is fixed on described slide block.
7. a kind of material transfer robot with vision-based detection function according to claim 6, it is characterized in that, described jaw unit comprises one group of parallel relative clamping limb, and the gripper cylinder being provided with two out movements controls the clamp distance of described clamping limb, the end of described clamping limb is connected with the slide block of elevating mechanism by a fixed platform.
8. a kind of material transfer robot with vision-based detection function according to claim 7, it is characterized in that, two clamping limbs are arranged with grip block in its relative one side, and described grip block is provided with the groove blocking material.
9. a kind of material transfer robot with vision-based detection function according to claim 8, it is characterized in that, the groove described grip block blocking material is V-type or U-shaped groove.
10. a kind of material transfer robot with vision-based detection function according to claim 3, it is characterized in that, described cross-brace frame or longitudinal bracing frame are provided with buffering locator at the other end of its guide rail, and described second workbench or the 3rd workbench slide between driving cylinder and buffering locator.
11. a kind of according to claim arbitrary in claim 1-10 have the material transfer robot of vision-based detection function, it is characterized in that, described material coasting mechanism is provided with the balancer controlling charge cask upset at its end, described balancer is connected with control system.
12. a kind of material transfer robots with vision-based detection function according to claim 11, it is characterized in that, described material coasting mechanism is provided with high temperature bar sizing separator at charging aperture.
CN201210338027.2A 2012-09-13 2012-09-13 Material delivering robot with visual detecting function CN102825605B (en)

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CN106292546B (en) * 2016-10-10 2018-09-07 安徽朗巴智能科技有限公司 A kind of industrial robot control system based on telecommunication
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Effective date of registration: 20160421

Address after: Suzhou City, Jiangsu Province, Yushan Town, Kunshan City, 215300 Yuan Feng Road No. 232

Patentee after: Kunshan Haiwei Automation Co., Ltd.

Address before: Suzhou City, Jiangsu province 215300 Kunshan city Yushan Town North Road No. 757

Patentee before: Kunshan Industrial Technology Research Institute Co., Ltd.