CN108584417A - Manipulator based on Machine Vision Recognition captures assembly equipment - Google Patents
Manipulator based on Machine Vision Recognition captures assembly equipment Download PDFInfo
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- CN108584417A CN108584417A CN201810489808.9A CN201810489808A CN108584417A CN 108584417 A CN108584417 A CN 108584417A CN 201810489808 A CN201810489808 A CN 201810489808A CN 108584417 A CN108584417 A CN 108584417A
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- load plate
- conveyer belt
- assembled
- assembly
- feed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
- Specific Conveyance Elements (AREA)
Abstract
This application provides the manipulators based on Machine Vision Recognition to capture assembly equipment, including feeding cycle device, material device for visual identification and assembly manipulator.Feeding cycle device is used for circulation conveying material to be assembled, material device for visual identification is used to identify material to be assembled that the feeding cycle device is conveyed successively according to the assemble sequence of material to be assembled, and assembly manipulator is for capturing and carrying the material to be assembled that material device for visual identification recognizes successively.The each material to be assembled conveyed on feeding cycle device is identified successively according to the assemble sequence of material to be assembled by material device for visual identification, so that assembly manipulator is captured successively according to assemble sequence and assembles each material to be assembled, classification and crawl assembling work to realize material to be assembled are carried out at the same time, therefore material to be assembled need not in advance be classified before carrying out assembling work, reduce the Classification of materials link before assembling work, effectively improves production efficiency.
Description
【Technical field】
This application involves automation equipment fields, more particularly to the crawl assembly of the manipulator based on Machine Vision Recognition is set
It is standby.
【Background technology】
Existing automated assembling equipment is captured for the ease of automated assembling equipment and is filled when carrying out automatic assembling operation
With material to be assembled, generally require and Classification of materials to be assembled be delivered at automated assembling equipment so that into
It is needed before row assembling work by the cargo handling operation of Classification of materials to be assembled, is unfavorable for improving production efficiency.
【Invention content】
In order to effectively reduce cargo handling operation, production efficiency is improved, this application provides need not divide material to be assembled in advance
The good manipulator crawl assembly equipment based on Machine Vision Recognition that can be also normally carried out automatic assembling operation of class.
The application is realized by following technical scheme：
Manipulator based on Machine Vision Recognition captures assembly equipment, including：
Feeding cycle device is used for circulation conveying material to be assembled；
Material device for visual identification is used to identify the feeding cycle dress successively according to the assemble sequence of material to be assembled
Set the material to be assembled conveyed；
Assembly manipulator is used to capture and carry the material to be assembled that material device for visual identification recognizes successively.
The feeding cycle device includes the first feed conveyer belt and is fed the second of conveyer belt side set on described first
It is fed conveyer belt, and the input terminal of the second feed conveyer belt makes the second confession below the output end of the first feed conveyer belt
Expect the input terminal of conveyer belt received from the material to be assembled of the first feed conveyer belt output end output, the second feed conveyer belt
Output end be located at it is described first be fed conveyer belt input terminal above make the input terminal of the first feed conveyer belt received from second
It is fed the material to be assembled of the output end output of conveyer belt.
The second feed conveyer belt is equipped with several can be mobile to drive material to be assembled defeated upwards with its conveying
The baffle conveying sent.
The feeding cycle device further includes being set to described first to be fed below the output end of conveyer belt for receiving first
It is fed the material to be assembled of conveyer belt output end output and is directed to the second material guiding of the input terminal of the second feed conveyer belt
Case, the second guiding that the second material guiding case is equipped with for material to be assembled to be directed on the second feed conveyer belt are oblique
Plate, the output end of the first feed conveyer belt are equipped with the third for being directed to material to be assembled in second material guiding case
Material guides case, and the third material guiding case is equipped with third and guides inclined plate.
The feeding cycle device further includes being set to the described first third feed conveyer belt being fed below conveyer belt, described
The output end of third feed conveyer belt, which is located above second material guiding case, makes third feed conveyer belt output end output
Material to be assembled can fall in second material guiding case, the input terminal of third feed conveyer belt is material to be assembled throwing
Put end.
The manipulator crawl assembly equipment based on Machine Vision Recognition further includes the load plate for conveying assembly load plate
Conveying device, the assembly manipulator capture the material to be assembled that material device for visual identification recognizes successively and are carried to load
Assembling work is carried out in assembly load plate on disk-transporting device.
The load plate conveying device includes at least the first load plate conveyer belt and is arranged in parallel in below the first load plate conveyer belt
The second load plate conveyer belt, and the conveying direction of the first load plate conveyer belt and the second load plate conveyer belt is on the contrary, described be based on
Machine Vision Recognition manipulator crawl assembly equipment further include two be set to load plate conveying device side be used for by first carry
The assembly load plate conveyed on disk conveyer belt be carried to downwards on the second load plate conveyer belt or by the second load plate conveyer belt institute it is defeated
The assembly load plate sent is carried to the load plate lifting transfer device on the first load plate conveyer belt, and a load plate lifting transfer device upwards
For the assembly load plate conveyed on the first load plate conveyer belt to be carried to downwards the second load plate conveyer belt, another load plate lifting
Transfer device is used to the assembly load plate conveyed on the second load plate conveyer belt being carried to the first load plate conveyer belt upwards, to
Assembly load plate is set to pass through the carrying up and down of two load plate lifting transfer devices on the first load plate conveyer belt and the second load plate conveyer belt
Circulation conveying.
The load plate lifting transfer device includes elevation base plate, is used to drive elevation base plate or more below elevation base plate
Mobile lift drive mechanism and the load plate in the elevation base plate on horizontal carrying assembly load plate to elevation base plate
Carrying mechanism.
The load plate carrying mechanism include two be set to the elevation base plate on and be oppositely arranged load plate supporting rack, be set to two
It horizontal can be removed between load plate supporting rack and at the self-contained disk-transporting device of load plate closer or far from load plate conveying device and capable of assembling
The load plate being transported on load plate supporting rack picks up component and is filled for driving load plate pickup component level to be conveyed closer or far from load plate
The carrying driver set.
The load plate pickup component includes picking up pedestal, the mounting base on pickup pedestal and in the mounting base
Load plate buckle for being connected on assembly load plate, the mounting base are equipped with the buckle shifting chute extended up and down, the load plate
Buckle is movably arranged in the buckle shifting chute and can move up and down, and the load plate pickup component further includes being set to the buckle to move
Buckle resetting spring in dynamic slot for pulling load plate buckle upward or downward, the load plate lifting transfer device are removed by load plate
The fortune mechanism clamping part that the load plate buckles when carrying assembly load plate upwards is arranged upward, and the buckle resetting spring is set to institute
Load plate buckle lower section is stated to buckle to pull downward on the load plate；The load plate lifting transfer device is downward by load plate carrying mechanism
The clamping part of the load plate buckle is arranged downward when carrying assembly load plate, and the buckle resetting spring is set on load plate buckle
Side is buckled with pulling up the load plate, and the load plate supporting rack, which is equipped with, to be picked up the moving direction extension of component along load plate and use
In the load plate carrier of carrying assembly load plate, the load plate carrier is led equipped with several load plates for extending along directional spreding
To wheel.
Compared with prior art, the application has the following advantages：
The application identifies that feeding cycle fills successively by material device for visual identification according to the assemble sequence of material to be assembled
The each material to be assembled conveyed is set, assembly manipulator is enable to be captured successively according to assemble sequence and is assembled each to be installed
With material, i.e., assembly manipulator can classification captures material to be assembled automatically on feeding cycle device, to realize object to be assembled
The classification and crawl assembling work of material are carried out at the same time, therefore material to be assembled need not in advance be classified before carrying out assembling work
It is good, reduce the Classification of materials link before assembling work, effectively improves production efficiency.
【Description of the drawings】
In order to more clearly explain the technical solutions in the embodiments of the present application, make required in being described below to embodiment
Attached drawing is briefly described.
Fig. 1 is the schematic diagram one of the manipulator crawl assembly equipment based on Machine Vision Recognition；
Fig. 2 is the schematic diagram two of the manipulator crawl assembly equipment based on Machine Vision Recognition；
Fig. 3 is the schematic diagram one of feeding cycle device；
Fig. 4 is the schematic diagram two of feeding cycle device；
Fig. 5 is the schematic diagram one of load plate lifting transfer device；
Fig. 6 is the portions the A enlarged diagram of Fig. 5；
Fig. 7 is the schematic diagram two of load plate lifting transfer device；
Fig. 8 is the portions the B enlarged diagram of Fig. 7；
Fig. 9 is the structure chart one of the manipulator crawl assembly control system based on Machine Vision Recognition；
Figure 10 is the structure chart two of the manipulator crawl assembly control system based on Machine Vision Recognition.
【Specific implementation mode】
Manipulator based on Machine Vision Recognition as depicted in figs. 1 and 2 captures assembly equipment, including feeding cycle device
1, material device for visual identification 3, assembly manipulator 4, load plate conveying device 2 and load plate lifting transfer device 5.
Feeding cycle device 1 is used for circulation conveying material to be assembled, as shown in Figure 3 and Figure 4, the feeding cycle device 1
The second feed conveyer belt 12 including the first feed conveyer belt 11 and set on the first feed conveyer belt, 11 side, in order to make to wait for
Assembly material is fed on conveyer belt 12 in the first feed conveyer belt 11 and second and realizes circulation conveying, the second feed conveyer belt
12 input terminal 121 is located at the input terminal 121 for making the second feed conveyer belt 12 below the output end 111 of the first feed conveyer belt 11
Material to be assembled received from the first feed 11 output end 111 of conveyer belt output, the output end of the second feed conveyer belt 12
122 be located at the top of input terminal 112 that described first is fed conveyer belt 11 make the input terminal 112 of the first feed conveyer belt 11 received from
The material to be assembled that the output end 122 of second feed conveyer belt 12 exports, for the band for enabling the second feed conveyer belt 12 to stablize
It moves material to be assembled to move up, the second feed conveyer belt 12 is equipped with several and can wait for drive with its conveying is mobile
The baffle conveying 123 that assembly material is delivered up.It is set to the first feed conveyer belt by the input terminal of the second feed conveyer belt
Enable the input terminal of the second feed conveyer belt received from the to be assembled of the first feed conveyer belt output end output below output end
Material, and the output end of the second feed conveyer belt makes the first feed above the input terminal of the first feed conveyer belt
The input terminal of conveyer belt can be to be assembled to realize received from the material to be assembled of the output end output of the second feed conveyer belt
Circulation conveying of the material on the first feed conveyer belt and the second feed conveyer belt, to coordinate automated assembling equipment to classify automatically
Material to be assembled is captured, is easy to use.
It is accurately transferred to the first feed in order to accurately be fed the material to be assembled conveyed on conveyer belt 12 by second
On conveyer belt 11, the feeding cycle device 1 further includes defeated set on the output end 122 of the second feed conveyer belt 12 and the first feed
The material to be assembled between the input terminal 112 of band 11 for exporting the second feed 12 output end 122 of conveyer belt is sent to be directed to the
First material guide member 14 on one feed 11 input terminal 112 of conveyer belt, the first material guide member 14 are equipped with for that will wait for
Assembly material is directed to the first guiding inclined plate 141 on the first feed conveyer belt 11.And in order to which accurately the first feed is conveyed
It is accurately transferred on the second feed conveyer belt 12 with the material to be assembled conveyed on 11, the feeding cycle device 1 also wraps
It includes defeated for receiving the first feed 11 output end 111 of conveyer belt set on 111 lower section of output end of the first feed conveyer belt 11
The second material guiding case 15 of the material to be assembled that goes out and the input terminal 121 that is directed to the second feed conveyer belt 12, described second
Material guiding case 15 is equipped with the second guiding inclined plate 151 for being directed to material to be assembled on second feed conveyer belt 12.And
In order to which the first material to be assembled for being exported of feed conveyer belt 1 is accurately delivered in second material guiding case 15, described the
The output end 111 of one feed conveyer belt 11 is equipped with the third object for being directed to material to be assembled in second material guiding case 15
Material guiding case 16, the third material guiding case 16 are equipped with third and guide inclined plate 161.
For the ease of operating personnel material to be assembled, the feeding cycle device 1 are launched to the feeding cycle device 1
Further include being set to the described first third feed conveyer belt 17 for being fed 11 lower section of conveyer belt, the third is fed the defeated of conveyer belt 17
The top that outlet 171 is located at second material guiding case 15 makes the to be assembled of third feed 17 output end 171 of conveyer belt output
Material can be fallen in second material guiding case 15, and the input terminal 172 of the third feed conveyer belt 17 is thrown for material to be assembled
Put end.
In addition, it is in vertical bar that the first feed conveyer belt 11, second, which is fed conveyer belt 12 and third feed conveyer belt 17,
Shape, the first feed conveyer belt 11 and third feed conveyer belt 17 is horizontally disposed and the conveying direction of the two is identical, described the
The projection of two feed conveyer belts 12 in the horizontal plane is mutually parallel with the first feed conveyer belt 11 and third feed conveyer belt 17, from
And feeding cycle device overall structure is made to seem compact, the occupied space of equipment can be saved.
As depicted in figs. 1 and 2, material device for visual identification 3 for identifying successively according to the assemble sequence of material to be assembled
The material to be assembled that the feeding cycle device 1 is conveyed, the material device for visual identification 3 include being set to the feeding cycle
The image acquisition device 31 of the top of device 1, assembly manipulator 4 are known successively for capturing and carrying material device for visual identification 3
The material to be assembled being clipped to.Feeding cycle is identified successively according to the assemble sequence of material to be assembled by material device for visual identification
The each material to be assembled conveyed on device, enables assembly manipulator to be captured successively according to assemble sequence and assembles each wait for
Assembly material, i.e. assembly manipulator can classification captures material to be assembled automatically on feeding cycle device, to be assembled to realize
The classification and crawl assembling work of material are carried out at the same time, therefore material to be assembled need not in advance be classified before carrying out assembling work
It is good, reduce the Classification of materials link before assembling work, effectively improves production efficiency.
As depicted in figs. 1 and 2, the load plate conveying device 2 and load plate lifting transfer device 5 are collectively formed for assembly
Manipulator circulation conveying assembles the load plate lifting transfer transport system based on Machine Vision Recognition of load plate, load plate conveying device 2
Load plate is assembled for conveying, the assembly manipulator 4 captures the material to be assembled that material device for visual identification 3 recognizes successively
And it is carried to the progress assembling work assembly load plate in load plate conveying device 2 Nei.The load plate conveying device 2 includes at least first
Load plate conveyer belt 21 and the second load plate conveyer belt 22 for being arranged in parallel in the lower section of the first load plate conveyer belt 21, for the ease of to assembly
The assembly load plate of assembling work, the first load plate conveyer belt 21 and second is completed in the conveying of manipulator 4 assembly load plate and recycling
The conveying direction of load plate conveyer belt 22 assembles load plate on the contrary, the first load plate conveyer belt 21 is used to convey to assembly manipulator,
The second load plate conveyer belt 22 is for recycling the assembly load plate that assembling work is completed.
As shown in Figure 1, Figure 2, shown in Fig. 5, Fig. 6, Fig. 7 and Fig. 8, the load plate lifting transfer device 5 is conveyed set on the load plate
2 side of device is used to the assembly load plate conveyed on the first load plate conveyer belt 21 being carried to the second load plate conveyer belt 22 downwards
Or the assembly load plate conveyed on the second load plate conveyer belt 22 is carried to upwards on the first load plate conveyer belt 21, it is described to be based on machine
The manipulator crawl assembly equipment of device visual identity includes two load plate lifting transfer devices 5, and a load plate lifting transfer device 5
For the assembly load plate conveyed on the first load plate conveyer belt 21 to be carried to downwards the second load plate conveyer belt 22, another load plate
Lifting transfer device 5 is used to the assembly load plate conveyed on the second load plate conveyer belt 22 being carried to the first load plate conveyer belt upwards
On 21, to make assembly load plate pass through the carrying up and down of two load plate lifting transfer devices 5 in the first load plate conveyer belt 21 and second
Circulation conveying on load plate conveyer belt 22.After assembling work being completed by load plate lifting transfer device on the first load plate conveyer belt
Assembly load plate from the input terminal that the output end of the first load plate conveyer belt is carried to the second load plate conveyer belt, with automatic recycling fill
The output end of assembly load plate from the second load plate conveyer belt after recycling is carried to load plate, and by load plate lifting transfer device
On the input terminal of first load plate conveyer belt, load plate will be assembled it will be carried on the first load plate conveyer belt and be conveyed to make-up machinery again
To carry out assembling work again at hand, to without manual recovery and conveying assembly load plate, be conducive to save human cost and carry
High efficiency.
As shown in Fig. 5 to Fig. 8, the load plate lifting transfer device 5 includes elevation base plate 51, is set to 51 lower section of elevation base plate
It lift drive mechanism 52 for driving elevation base plate 51 to move up and down and is carried for horizontal in the elevation base plate 51
Assemble the load plate carrying mechanism 53 on load plate to elevation base plate 51.Pass through load plate carrying mechanism grasp handling the first load plate conveyer belt
Or the second assembly load plate on load plate conveyer belt, and elevation base plate is driven by lift drive mechanism and is located in elevation base plate
Load plate carrying mechanism is moved up and down to the first load plate conveyer belt or the second load plate conveyer belt, and it is defeated from the first load plate will to assemble load plate
Band is sent to be carried on the second load plate conveyer belt or be carried on the first load plate conveyer belt from the second load plate conveyer belt, meeting production makes
Use demand.
Further, in order to effectively carry assembly load plate, the load plate carrying mechanism 53 includes two set on the lifting
On substrate 51 and be oppositely arranged load plate supporting rack 531, be set to two load plate supporting racks 531 between and can level closer or far from load
Disk-transporting device 2 simultaneously can will assemble the load plate being carried at the self-contained disk-transporting device of load plate 2 on load plate supporting rack 531 and pick up component
532 and for driving the horizontal carrying driver 533 closer or far from load plate conveying device 2 of load plate pickup component 532.The load
Disk picks up component 532 and includes pickup pedestal 5321, the mounting base 5322 on pickup pedestal 5321 and be set to the mounting base
Load plate buckle 5323 on 5322 for being connected on assembly load plate, load plate lifting transfer device 5 buckles 5323 energy by load plate
Assembly load plate is pulled from the first load plate conveyer belt or the second load plate conveyer belt firmly and is carried to load plate supporting rack 531
On, the mounting base 5322 is equipped with the buckle shifting chute 5322a extended up and down, and the load plate buckle 5323 is movably arranged at described
It in buckle shifting chute 5322a and can move up and down, when load plate lifting transfer device 5 is removed assembly load plate by load plate buckle 5323
When being transported on load plate supporting rack 531, load plate buckle 5323 is detached from assembly load plate along buckle shifting chute 5322a, and in order in load plate
Load plate buckles 5323 energy after assembly load plate is carried on load plate supporting rack 531 by lifting transfer device 5 by load plate buckle 5323
Effectively be detached from assembly load plate, load plate pickup component 532 further include be set in the buckle shifting chute 5322a for upward or
The buckle resetting spring 5324 of load plate buckle 5323 is pulled downward on, load plate lifting transfer device 5 will dress by load plate buckle 5323
After being carried on load plate supporting rack 531 with load plate, buckle resetting spring stretchy load plate buckle is detached from assembly load plate.Specifically,
In order to which when lift drive mechanism driving elevation base plate moves up and down, the load plate buckle 5323 can will assemble consolidating for load plate stabilization
Due on load plate supporting rack 531, when the load plate lifting transfer device 5 carries assembly load plate by load plate carrying mechanism 53 upwards
The clamping part 5323a of the load plate buckle 5323 is arranged upward, and the buckle resetting spring 5324 is buckled set on the load plate
5323 lower sections are to pull downward on the load plate buckle 5323；The load plate lifting transfer device 5 by load plate carrying mechanism 53 to
The lower clamping part 5323a for carrying the load plate buckle 5323 when assembling load plate is arranged downward, and the buckle resetting spring 5324 is set
To pull up the load plate buckle 5323 above load plate buckle 5323.In addition, when load plate buckle 5323 is detached from assembly
After load plate, load plate carrying mechanism 53 will assemble load plate when being pushed out on the first load plate conveyer belt or the second load plate conveyer belt, carry
Driver 533 drives load plate pickup component 532 horizontal close to load plate conveying device 2 so that the structure that load plate picks up component 532 is whole
Body is pushed out to load plate is assembled on the first load plate conveyer belt or the second load plate conveyer belt.
In order to effectively drive load plate pickup component 532 horizontal closer or far from load plate conveying device 2, the load plate lifting turns
Moving device 5 further includes that shifting sledge 54 between being set to two load plate supporting racks 531 and capable of being slided along shifting sledge 54 is leaned on level
Close or remote from the mobile take-up housing 55 of load plate conveying device 2, the pickup pedestal 5321 is set on mobile take-up housing 55, described to remove
Fortune driver 533 slide on shifting sledge 54 by the mobile take-up housing 55 of driving make load plate pick up 532 levels of component it is close or
Far from load plate conveying device 2.
The load plate supporting rack 531 is equipped with picks up the moving direction extension of component 532 and for carrying assembly along load plate
The load plate carrier 5311 of load plate, the load plate carrier 5311 are equipped with the load plate that several extend along directional spreding and are oriented to
Wheel 5312.It can be carried to load plate supporting rack 531 convenient for load plate will be assembled by the way that load plate directive wheel is arranged, effectively meet and use need
It asks.
The lift drive mechanism 52 includes the lifting driving that is connected to 51 downside of the elevation base plate and can move up and down
Bar 521 and for driving the lifting drive that moves up and down of lifting drive rod 521.It is driven by lifting drive rod 521
Elevation base plate moves up and down, simple in structure, easy to use.
The bottom of the feeding cycle device 1, the load plate conveying device 2 and the load plate lifting transfer device 5 is all provided with
There are universal wheel 6 and positioning footed glass 7.Operating personnel can be made to assemble cycle according to production requirement by the way that universal wheel and positioning footed glass is arranged
Feeding device 1, the load plate conveying device 2 and the load plate lifting transfer device 5.
The application further includes the manipulator crawl assembly control system based on Machine Vision Recognition, is regarded applied to based on machine
Feel in the manipulator crawl assembly equipment of identification, so that the manipulator based on Machine Vision Recognition is captured assembly equipment and realize automation
Assembling work is captured, specifically, including feeding cycle device 1, assembly manipulator 4 and material device for visual identification 3.
Assembly manipulator 4 is electrically connected with the feeding cycle device 1, material device for visual identification 3 include respectively with cycle
Feeding device 1 and the electrical connection of assembly manipulator 4 and the identification for prestoring multiple pre-stored image information for having preset comparison sequence
Processing unit 32 and the image acquisition device 31 being electrically connected with identifying processing unit 32, described image collector 31 acquire feeding cycle
After the image information for the material to be assembled that device 1 is conveyed picture signal, the identifying processing are exported to identifying processing unit 32
Unit 32 is chosen corresponding pre-stored image information according to preset comparison sequence and is compared with picture signal, if comparing one
It causing, then identifying processing unit 32 exports feed stop signal to feeding cycle device 1 makes feeding cycle device 1 shut down, and
So that assembly manipulator 4 is captured to 4 outputting material position signal of assembly manipulator and carry corresponding material to be assembled, while is described
Identifying processing unit 32 chooses next pre-stored image information as comparison according to preset comparison sequence, and assembly manipulator 4 is grabbed
It takes and carries and export feed drive signal to feeding cycle device 1 after corresponding material to be assembled feeding cycle device 1 is made to operate
Convey material to be assembled.The image information of the material to be assembled on feeding cycle device is acquired by image acquisition device, and is passed through
Identifying processing unit chooses pre-stored image information and image acquisition device institute the image collected information according to preset comparison sequence
It is compared, assembly manipulator grasp handling is controlled when comparing consistent and assembles material to be assembled, to control make-up machinery
Hand captures according to assemble sequence and assembles each material to be assembled successively automatically, i.e. assembly manipulator can be on feeding cycle device
Automatic classification captures material to be assembled, and the mechanized classification and crawl assembling work to realize material to be assembled are carried out at the same time,
Therefore material to be assembled need not in advance be classified before carrying out assembling work, reduces the Classification of materials ring before assembling work
Section, effectively improves production efficiency.
The manipulator crawl assembly control system based on Machine Vision Recognition further includes being electrically connected with assembly manipulator 4
Load plate conveying device 2 for conveying assembly load plate, the assembly manipulator 4 capture material to be assembled and are carried on assembly load plate
Assembling work is carried out, the load plate conveying device 2 includes the first load plate conveyer belt 21, load plate detent mechanism 23, the inspection of the first load plate
Survey unit 24.
First load plate conveyer belt 21 is electrically connected with assembly manipulator 4, and load plate detent mechanism 23 is set to the first load plate conveyer belt
It is electrically connected on 21 and with assembly manipulator 4, the first load plate detection unit 24 is set to defeated with the first load plate on load plate detent mechanism 23
Band 21 and load plate detent mechanism 23 is sent to be electrically connected, when the first load plate detection unit 24 has detected that assembly load plate is delivered to load plate and determines
Load plate positioning signal is exported to load plate detent mechanism 23 and stop to the output load plate conveying of the first load plate conveyer belt 21 when the mechanism 23 of position
Stop signal, load plate detent mechanism 23 receive fixing assembling load plate after load plate positioning signal, and the first load plate conveyer belt 21 receives load plate
Stop conveying assembly load plate after conveying stop signal, and when assembly manipulator 4 completes primary complete assembly on assembly load plate
Positioning lift signal is exported to load plate detent mechanism 23 after operation and convey signal to the first load plate conveyer belt 21 output load plate, carry
Disk-positioning mechanism 23 decontrols assembly load plate after receiving positioning lift signal, after the first load plate conveyer belt 21 receives load plate conveying signal
Conveying assembly load plate.It can accurately be by assembly load plate positioning conveying by the first load plate detection unit 24 and load plate detent mechanism 23
Assembling work is carried out to assembly manipulator, effectively meets production and application demand.
The manipulator crawl assembly control system based on Machine Vision Recognition further includes based on Machine Vision Recognition
Load plate lifting transfer transport control system, making load plate conveying device 2 and load plate lifting transfer device 5, cooperation is realized to assembly jointly
Robotic circulation conveying and recycling assembly load plate, the load plate lifting transfer transport control system based on Machine Vision Recognition
Including the load plate conveying device 2, the load plate conveying device 2 further includes being arranged in parallel in 21 lower section of the first load plate conveyer belt
Second load plate conveyer belt 22, the manipulator crawl assembly control system based on Machine Vision Recognition further includes for by first
The assembly load plate conveyed on load plate conveyer belt 21 is carried on the second load plate conveyer belt 22 or will be on the second load plate conveyer belt 22
The assembly load plate conveyed is carried to the load plate lifting transfer device 5 on the first load plate conveyer belt 21, the load plate lifting transfer
Device 5 include load plate carrying mechanism 53, lift drive mechanism 52, lifting in place sensing unit 56, the second load plate detection unit 57,
Third load plate detection unit 58 and the 4th load plate detection unit 59.
Lift drive mechanism 52 is for driving load plate carrying mechanism 53 to rise or fall.
Lifting in place sensing unit 56 be electrically connected with load plate carrying mechanism 53, detect load plate carrying mechanism 53 rising or
After falling into place signal in place is lifted to the output of load plate carrying mechanism 53.
Second load plate detection unit 57 is electrically connected with lift drive mechanism 52 and load plate carrying mechanism 53 for detecting load plate
Whether there is or not assembly load plate on carrying mechanism 53, the second load plate detection unit 57 detects when having assembly load plate on load plate carrying mechanism 53
It exports to decline drive signal and detect to lift drive mechanism 52 and be driven to lifting when arming matches load plate on load plate carrying mechanism 53
The output of motivation structure 52 rises drive signal or the second load plate detection unit 57 detects that arming matches load plate on load plate carrying mechanism 53
When exported to lift drive mechanism 52 when rising drive signal and detecting on load plate carrying mechanism 53 that arming matches load plate to lifting
The output of driving mechanism 52 declines drive signal, and lift drive mechanism 52, which receives, rises drive signal or decline drive signal rear-guard
Dynamic load disk carrying mechanism 53 rises or falls, and the second load plate detection unit 57 detects have assembly to carry on load plate carrying mechanism 53
Signal in place is exported to load plate carrying mechanism 53 when disk, the second load plate detection unit 57, which detects on load plate carrying mechanism 53, dress
When with load plate null signals are exported to load plate carrying mechanism 53.
Third load plate detection unit 58 is electrically connected with load plate carrying mechanism 53 for detecting the first load plate conveyer belt 21
Or second load plate conveyer belt 22 load plate output end have assembly load plate when to load plate carrying mechanism 53 export load plate carry signal, carry
Disk carrying mechanism 53 receives load plate and carries signal, lifting in place after signal and null signals by the first load plate conveyer belt at the same time
21 or 22 output end of the second load plate conveyer belt on assembly load plate be carried in load plate carrying mechanism 53.
4th load plate detection unit 59 is electrically connected with load plate carrying mechanism 53 for detecting the first load plate conveyer belt 21
Or second load plate conveyer belt 22 load plate input terminal arming match load plate when to load plate carrying mechanism 53 export load plate push signal, carry
Disk carrying mechanism 53 receives load plate push signal, lifting in place after signal and signal in place by load plate carrying mechanism 53 at the same time
Interior assembly load plate is pushed out on the second load plate conveyer belt 22 or the first load plate conveyer belt 21.It is detected and is carried by second detection unit
Whether there is or not assembly load plates to make lift drive mechanism driving load plate carrying mechanism lifting in disk carrying mechanism, and induction is single in place in lifting
After member lifts signal in place to the output of load plate carrying mechanism, is detected in carrying mechanism by second detection unit and carried without assembly
Disk and detect that the load plate output end of the first load plate conveyer belt or the second load plate conveyer belt has assembly to carry by third detection unit
When disk, control load plate carrying mechanism capture assembly load plate and is carried to load plate is assembled in load plate carrying mechanism automatically, passes through the
Two detection units detect in carrying mechanism have assembly load plate and by the 4th detection unit detect the first load plate conveyer belt or
When the load plate input terminal of second load plate conveyer belt does not assemble load plate, control load plate carrying mechanism is pushed out to first by load plate is assembled
Load plate conveyer belt or the second load plate conveyer belt, will be complete on the first load plate conveyer belt by load plate lifting transfer device to realize
At the assembly load plate after assembling work from the input terminal that the output end of the first load plate conveyer belt is carried to the second load plate conveyer belt,
Assemble load plate with automatic recycling, and by load plate lifting transfer device by the assembly load plate after recycling from the second load plate conveyer belt
Output end is carried on the input terminal of the first load plate conveyer belt, will be assembled load plate and is carried on the first load plate conveyer belt and carry out again
Secondary assembling work, to without manual recovery and conveying assembly load plate, be conducive to save human cost and improve production efficiency.
The present embodiment operation principle is as follows：
The circulation conveying of material to be assembled：Material to be assembled is launched the input that conveyer belt is fed in third by operating personnel
End, material to be assembled are fed after the output end output of conveyer belt from third and are directed to the second feed by second material guiding case
The input terminal of conveyer belt, and material to be assembled is led from after the output end output of the second feed conveyer belt by first material guide member
It leads on the input terminal of the first feed conveyer belt, material to be assembled passes through third from after the output end output of the first feed conveyer belt
Material guiding case is directed to second material guiding case, and is directed to the second feed conveyer belt again by second material guiding case
On input terminal, to realize the circulation conveying of material.
The identification of material to be assembled captures：Material device for visual identification identifies that cycle supplies successively according to the assemble sequence of material
The material to be assembled that is conveyed on material device, and make assembly manipulator capture and carry material device for visual identification to identify successively
The material to be assembled arrived, so that assembly manipulator is captured according to the assemble sequence of material and carried corresponding to be assembled successively
Material.
Assemble the circulation conveying of load plate：First load plate conveyer belt of load plate conveying device is delivered to load plate is assembled and assembles
The corresponding position of manipulator, material to be assembled is captured and is carried on assembly load plate by assembly manipulator carries out assembling work,
After the completion of assembly, the first load plate conveyer belt is transported away load plate is assembled, and a load plate lifting transfer device conveys the first load plate
The assembly load plate that assembling work is completed that band is exported is carried to the input terminal of the second load plate conveyer belt, is carried to recycle assembly
Disk, and the assembly load plate that the second load plate conveyer belt is exported is carried to the first load plate conveyer belt by another load plate lifting transfer device
Input terminal, so that the assembly load plate of recycling is carried on the first load plate conveyer belt to be delivered to again and make-up machinery palmistry
Corresponding position is assembled again, is then realized to assembly manipulator circulation conveying and is assembled load plate.
It is a kind of embodiment for combining particular content to provide as described above, does not assert the specific implementation office of the application
It is limited to these explanations.It is all approximate with the present processes, structure etc., identical, if or for being made under the application concept thereof
Dry technology deduction or replace, all should be considered as the protection domain of the application.
Claims (10)
1. the manipulator based on Machine Vision Recognition captures assembly equipment, which is characterized in that including：
Feeding cycle device (1) is used for circulation conveying material to be assembled；
Material device for visual identification (3) is used to identify the feeding cycle dress successively according to the assemble sequence of material to be assembled
Set the material to be assembled that (1) is conveyed；
Assembly manipulator (4) is used to capture and carry the object to be assembled that material device for visual identification (3) recognizes successively
Material.
2. the manipulator according to claim 1 based on Machine Vision Recognition captures assembly equipment, which is characterized in that described
Feeding cycle device (1) includes the first feed conveyer belt (11) and is supplied set on the second of first feed conveyer belt (11) side
Expect conveyer belt (12), and the input terminal (121) of the second feed conveyer belt (12) is located at the defeated of the first feed conveyer belt (11)
Make the input terminal (121) of the second feed conveyer belt (12) received from first feed conveyer belt (11) output end below outlet (111)
(111) output end (122) of the material to be assembled exported, the second feed conveyer belt (12) is located at the first feed conveying
Make the input terminal (112) of the first feed conveyer belt (11) received from the second feed conveyer belt above the input terminal (112) of band (11)
(12) material to be assembled of output end (122) output.
3. the manipulator according to claim 2 based on Machine Vision Recognition captures assembly equipment, which is characterized in that described
Second feed conveyer belt (12) is equipped with several can be with its mobile conveying to drive material to be assembled to be delivered up of conveying
Baffle (123).
4. the manipulator according to claim 2 based on Machine Vision Recognition captures assembly equipment, which is characterized in that described
Feeding cycle device (1) further includes being set to described first to be fed below the output end (111) of conveyer belt (11) for receiving first
The material to be assembled of feed conveyer belt (11) output end (111) output and the input terminal for being directed to the second feed conveyer belt (12)
(121) second material guiding case (15), second material guiding case (15) are equipped with for material to be assembled to be directed to the
The output end (111) of the second guiding inclined plate (151) on two feed conveyer belts (12), the first feed conveyer belt (11) is equipped with
Third material guiding case (16) for being directed to material to be assembled in second material guiding case (15), the third material are led
Draw case (16) equipped with third guiding inclined plate (161).
5. the manipulator according to claim 4 based on Machine Vision Recognition captures assembly equipment, which is characterized in that described
Feeding cycle device (1) further includes being set to the described first third feed conveyer belt (17) being fed below conveyer belt (11), described
The output end (171) of third feed conveyer belt (17), which is located above second material guiding case (15), makes third feed conveying
The material to be assembled that band (17) output end (171) exports can be fallen in second material guiding case (15), and the third feed is defeated
It is that material to be assembled launches end to send the input terminal (172) of band (17).
6. the manipulator according to claim 1 based on Machine Vision Recognition captures assembly equipment, which is characterized in that described
Manipulator crawl assembly equipment based on Machine Vision Recognition further includes the load plate conveying device (2) for conveying assembly load plate,
The assembly manipulator (4) captures the material to be assembled that material device for visual identification (3) recognizes successively and is carried to load plate
Assembling work is carried out in assembly load plate in conveying device (2).
7. the manipulator according to claim 6 based on Machine Vision Recognition captures assembly equipment, which is characterized in that described
Load plate conveying device (2) includes at least the first load plate conveyer belt (21) and is arranged in parallel in below the first load plate conveyer belt (21)
Second load plate conveyer belt (22), and the conveying direction phase of the first load plate conveyer belt (21) and the second load plate conveyer belt (22)
Instead, the manipulator crawl assembly equipment based on Machine Vision Recognition further includes two set on the load plate conveying device (2) one
Side be used to the assembly load plate conveyed on the first load plate conveyer belt (21) being carried to downwards on the second load plate conveyer belt (22) or
The assembly load plate conveyed on second load plate conveyer belt (22) is carried to the load plate liter on the first load plate conveyer belt (21) upwards
Transfer device (5) drops, and a load plate lifting transfer device (5) is used to carry the assembly conveyed on the first load plate conveyer belt (21)
Disk is carried to downwards on the second load plate conveyer belt (22), and another load plate lifting transfer device (5) is used for the second load plate conveyer belt
(22) the assembly load plate conveyed on is carried to upwards on the first load plate conveyer belt (21), to make assembly load plate pass through two load plates
The carrying up and down of lifting transfer device (5) circulation conveying on the first load plate conveyer belt (21) and the second load plate conveyer belt (22).
8. the manipulator according to claim 7 based on Machine Vision Recognition captures assembly equipment, which is characterized in that described
Load plate lifting transfer device (5) includes elevation base plate (51), is set to below elevation base plate (51) for driving elevation base plate (51)
The lift drive mechanism (52) that moves up and down and load plate is assembled to lifting for horizontal carry in the elevation base plate (51)
Load plate carrying mechanism (53) on substrate (51).
9. the manipulator according to claim 8 based on Machine Vision Recognition captures assembly equipment, which is characterized in that described
Load plate carrying mechanism (53) is set to the load plate supporting rack (531) in the elevation base plate (51) and being oppositely arranged including two, is set to
Between two load plate supporting racks (531) and can it is horizontal closer or far from load plate conveying device (2) and can will assembly load plate it is defeated from load plate
The load plate being carried on load plate supporting rack (531) at device (2) is sent to pick up component (532) and for driving load plate to pick up component
(532) the horizontal carrying driver (533) closer or far from load plate conveying device (2).
10. the manipulator according to claim 9 based on Machine Vision Recognition captures assembly equipment, which is characterized in that institute
Load plate pickup component (532) is stated to include pickup pedestal (5321), the mounting base (5322) being set on pickup pedestal (5321) and set
(5323) are buckled in the load plate for being connected on assembly load plate in the mounting base (5322), are set on the mounting base (5322)
There are the buckle shifting chute (5322a) extended up and down, the load plate buckle (5323) to be movably arranged at the buckle shifting chute (5322a)
Interior and can move up and down, the load plate pickup component (532) further includes being set in the buckle shifting chute (5322a) for upwards
Or the buckle resetting spring (5324) of load plate buckle (5323) is pulled downward on, the load plate lifting transfer device (5) passes through load plate
Carrying mechanism (53) clamping part (5323a) that the load plate buckles (5323) when carrying assembly load plate upwards is arranged upward, and institute
Buckle resetting spring (5324) is stated to be set to below load plate buckle (5323) to pull downward on the load plate buckle (5323)；Institute
It states load plate when load plate lifting transfer device (5) carries downwards assembly load plate by load plate carrying mechanism (53) and buckles (5323)
Clamping part (5323a) be arranged downward, the buckle resetting spring (5324) be set to the load plate buckle (5323) above with to
It is upper that the load plate buckle (5323), the load plate supporting rack (531) is pulled to be equipped with the mobile side along load plate pickup component (532)
Load plate carrier (5311) to extending and for carrying assembly load plate, the load plate carrier (5311) are equipped with several edges
The load plate directive wheel (5312) of its extending direction distribution.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810489808.9A CN108584417A (en) | 2018-05-21 | 2018-05-21 | Manipulator based on Machine Vision Recognition captures assembly equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810489808.9A CN108584417A (en) | 2018-05-21 | 2018-05-21 | Manipulator based on Machine Vision Recognition captures assembly equipment |
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| Publication Number | Publication Date |
|---|---|
| CN108584417A true CN108584417A (en) | 2018-09-28 |
Family
ID=63632355
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810489808.9A Pending CN108584417A (en) | 2018-05-21 | 2018-05-21 | Manipulator based on Machine Vision Recognition captures assembly equipment |
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| Country | Link |
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| CN (1) | CN108584417A (en) |
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| CN109610097A (en) * | 2018-12-14 | 2019-04-12 | 西安理工大学 | It is a kind of for the transmission of socks, docking and suture integration apparatus |
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