CN109625922A - A kind of automatic loading and unloading system and method for intelligence manufacture - Google Patents
A kind of automatic loading and unloading system and method for intelligence manufacture Download PDFInfo
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- CN109625922A CN109625922A CN201811459662.XA CN201811459662A CN109625922A CN 109625922 A CN109625922 A CN 109625922A CN 201811459662 A CN201811459662 A CN 201811459662A CN 109625922 A CN109625922 A CN 109625922A
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- Prior art keywords
- gripper
- module
- processor
- automatic loading
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Classifications
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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
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
-
- 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
- B65G47/905—Control arrangements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of automatic loading and unloading systems for intelligence manufacture, belong to intelligent Manufacturing Technology field, including handling module, image capture module and data processing module；Handling module includes the gripper for grabbing material and the mechanical arm for driving gripper to move, and the locating module for localization machine machinery claw is equipped on gripper；Image capture module includes video camera, and video camera is used to acquire the image information of material, and the image information of material includes the status information of material and the characteristic information of material；Data processing module includes memory and processor, and memory is used to store the image information of material, and processor is acted for the image information of material being analyzed and processed and being controlled handling module.Simple structure and reasonable design of the invention, it is whether consistent with the coordinate position of gripper, moving direction, speed to determine whether grasping manipulation can be implemented, independent of high-precision positioning mechanism by constantly comparing material.
Description
Technical field
The present invention relates to intelligent Manufacturing Technology field, in particular to a kind of automatic loading and unloading system for intelligence manufacture and
Method.
Background technique
Manufacturing industry is the basic industry of national economy, is one of the most basic factor for determining national development level.Intelligence
The integrated and depth integration for being advanced manufacturing technology, information technology and artificial intelligence technology in manufacturing equipment can be manufactured, is
Realize efficient, high-quality, energy conservation and environmental protection and the next-generation manufacturing technology securely and reliably produced.
It is mostly that material is transplanted on by designated position by high accuracy positioning mechanism, then by grabbing in existing manufacturing system
Mechanism kinematic to the position grabs material, then puts to designated position, repeats the automatic loading/unloading that the process realizes material.
But it is above-mentioned during, grasping mechanism only be responsible for execute motor program, and this method need it is accurate to material
Positioning, not only cost of installation and maintenance early period is high, but also later period out of order probability is higher, the case where being accurately positioned error
Under, grasping mechanism can not then carry out loading and unloading operation, influence to produce.
Summary of the invention
It needs to remove positioning mechanism for material loading and unloading process of the existing technology and pinpoint ask is carried out to it
Topic, the purpose of the present invention is to provide a kind of automatic loading and unloading systems and method for intelligence manufacture.
To achieve the above object, the technical solution of the present invention is as follows:
A kind of automatic loading and unloading system for intelligence manufacture, including handling module, image capture module and data processing
Module, the data processing module are electrically connected with the handling module, described image acquisition module；The handling module includes using
It is equipped on the gripper of crawl material and mechanical arm for driving gripper movement, the gripper for positioning
The locating module of gripper；Described image acquisition module includes video camera, and the video camera is used to acquire the image information of material,
The image information of the material includes the status information of material and the characteristic information of material；The data processing module includes storage
Device and processor, the memory are used to store the image information of the material, and the processor is used for the figure to the material
It is acted as information is analyzed and processed and controls handling module.
Preferably, the gripper and the mechanical arm are rotatablely connected.
Preferably, the locating module includes wireless locating module, and the wireless locating module is electrically connected with the processor
It connects.
Another preferred, the mechanical arm and the gripper include joint, and angled biography is installed in the joint
Sensor, the angular transducer are electrically connected with the processor.
Another preferred, the locating module includes luminous point or reflecting marking.
A kind of automatic loading/unloading method for intelligence manufacture, comprising the following steps:
Step 1, the omnidirectional images that material is acquired by image capture module, by processor to the full side of the material
Bit image is handled, and is extracted the characteristic information of material and is stored in memory；
Step 2 establishes coordinate system, and the position by gripper in the coordinate system by coordinate origin of image capture module
Coordinate is stored in memory；
During step 3, material transmission, image capture module will be clapped with the realtime graphic of certain frequency shooting material
The material realtime graphic taken the photograph is sent to memory；
Step 4, processor are analyzed and processed the material realtime graphic stored in memory, obtain the state letter of material
Breath, the status information of the material include the placing attitude of material and coordinate position, the shifting of material relative image acquisition module
Dynamic speed and moving direction；
Step 5, according to the status information of material in step 4, processor controls handling module movement, controls the shape of gripper
The status information of state information and the material tends to consistent, the status information of the gripper include the open configuration of gripper with
And coordinate position, movement speed and the motion direction of gripper relative image acquisition module.
Step 6, processor control gripper grab material.
Preferably, in steps of 5, the status information of the gripper is with the wireless locating module, luminous point or anti-
Light is identified as coordinate and is calculated.
Preferably, in steps of 5, the status information of the gripper is calculated by the angle changing of the angular transducer
It obtains.
By adopting the above technical scheme, due to the setting of image capture module so that the placement state of material, position coordinates with
And its moving direction, speed can be obtained by the analysis image of processor；Again due to the locating module on gripper setting,
So that the real time position of gripper, moving direction and speed can also be obtained by the control of processor；Two combine, and are handling
Under the control of device, the position coordinates, moving direction and speed of gripper and material are made to tend to consistent, to realize the crawl of material
Operation.By the continuous adjustment and amendment acted to gripper, effectively prevent in conventional materials loading and unloading operation to high-precision
Positioning mechanism use, reduce manufacture and maintenance cost.
Detailed description of the invention
Fig. 1 is a kind of structural block diagram of the automatic loading and unloading system for intelligence manufacture of the present invention；
Fig. 2 is process for using figure of the invention.
In figure: 1- handling module, 11- mechanical arm, 12- gripper, 13- locating module, 2- image capture module, 3- data
Processor module, 31- memory, 32- processor, 4- material.
Specific embodiment
Specific embodiments of the present invention will be further explained with reference to the accompanying drawing.It should be noted that for
The explanation of these embodiments is used to help understand the present invention, but and does not constitute a limitation of the invention.In addition, disclosed below
The each embodiment of the present invention involved in technical characteristic can be combined with each other as long as they do not conflict with each other.
As shown in Figure 1, a kind of automatic loading and unloading system for intelligence manufacture, including handling module 1, image capture module
2 and data processing module 3, data processing module 3 be electrically connected with handling module 1, image capture module 2.
Handling module 1 includes gripper 12 for grabbing material 4 and the mechanical arm 11 for driving gripper 12 to move,
Locating module 13 for localization machine machinery claw 12 is installed on gripper 12.
Image capture module 2 includes video camera, and video camera is used to acquire the image information of material 4, the image information of material
The characteristic information of status information and material including material.
Data processing module 3 includes memory 31 and processor 32, and memory 31 is used to store the image of above-mentioned material
Information, processor 32 are acted for the image information of material being analyzed and processed and being controlled handling module 1.
In the present embodiment, gripper 12 and mechanical arm 11 are rotatablely connected.
In the present embodiment, locating module 13 includes wireless locating module, and wireless locating module is electrically connected with processor 32.
In another embodiment, mechanical arm 11 and gripper 12 include joint, and joint is equipped with angular transducer,
Angular transducer is electrically connected with processor 32；And locating module 13 is then above-mentioned angular transducer, passes through angular transducer
Angle change is vertical, and processor 32 can position gripper 12.
In another embodiment, locating module 13 includes luminous point or reflecting marking.
The invention also discloses a kind of automatic loading/unloading methods for intelligence manufacture, as shown in Fig. 2, including following step
It is rapid:
Step 1, the omnidirectional images that material 4 is acquired by image capture module 2, by processor 32 to the complete of material 4
Bearing images are handled, and are extracted the characteristic information of material 4 and are stored in memory 31；
Step 2 is that coordinate origin establishes coordinate system with image capture module 2, and in the coordinate system by gripper 12
Position coordinates are stored in memory 31；
In step 3,4 transmit process of material, image capture module 2 shoots the realtime graphic of material 4 with certain frequency, and will
4 realtime graphic of material taken is sent to memory 31；
Step 4, processor 32 are analyzed and processed 4 realtime graphic of material stored in memory 31, obtain material 4
Status information, the status information of material 4 include the coordinate bit of the 4 relative image acquisition module 2 of placing attitude and material of material 4
It sets, movement speed and moving direction；
Step 5, according to the status information of material 4 in step 4, processor 32 controls handling module 1 and acts, and controls gripper
12 status information and the status information of material 4 tend to consistent, and the status information of gripper 12 includes the opening shape of gripper 12
Coordinate position, movement speed and the motion direction of 12 relative image acquisition module 2 of state and gripper.
Step 6, processor 32 control gripper 12 and grab material.
In the present embodiment, image capture module 2 is fixed on ground or Working gantry, is facilitated with this and is established one
The opposite motionless coordinate system in ground, facilitates calculating.
In above-mentioned step 2, the position of gripper 12 in a coordinate system is determined by locating module 13；In steps of 5,
The status information of gripper 12 is also to be determined with locating module 13.
Specifically, when locating module 13 is wireless locating module, luminous point or reflecting marking, the seat of locating module 13
Mark is the coordinate of gripper 12；And when locating module 13 is angular transducer, first by the method that measures in advance by machine
Machinery claw 12 is in a position coordinates, in real-time coordinates and the state letter of the angle changing computer machinery claw 12 by angular transducer
Breath.
In step 4, processor 32 compares two or more images, when passing through the shooting interval of two pictures
Between, the moving direction of material 4 and the placement state and coordinate position of speed and material 4 can be calculated.
In practical application, the moving direction and speed of material 4 can also pass through the traffic direction and speed of material conveying device
Degree obtains.
In conjunction with attached drawing, the embodiments of the present invention are described in detail above, but the present invention is not limited to described implementations
Mode.For a person skilled in the art, in the case where not departing from the principle of the invention and spirit, to these embodiments
A variety of change, modification, replacement and modification are carried out, are still fallen in protection scope of the present invention.
Claims (8)
1. a kind of automatic loading and unloading system for intelligence manufacture, it is characterised in that: including handling module, image capture module and
Data processing module, the data processing module are electrically connected with the handling module, described image acquisition module；The crawl mould
Block includes the gripper for grabbing material and the mechanical arm for driving the gripper movement, is equipped on the gripper
Locating module for localization machine machinery claw；Described image acquisition module includes video camera, and the video camera is for acquiring material
Image information, the image information of the material include the status information of material and the characteristic information of material；The data processing mould
Block includes memory and processor, and the memory is used to store the image information of the material, and the processor is used for institute
The image information for stating material is analyzed and processed and controls handling module and acted.
2. the automatic loading and unloading system according to claim 1 for intelligence manufacture, it is characterised in that: the gripper with
The mechanical arm rotation connection.
3. the automatic loading and unloading system according to claim 1 for intelligence manufacture, it is characterised in that: the locating module
Including wireless locating module, the wireless locating module is electrically connected with the processor.
4. the automatic loading and unloading system according to claim 1 for intelligence manufacture, it is characterised in that: the mechanical arm and
The gripper includes joint, and the joint is equipped with angular transducer, the angular transducer and processor electricity
Connection.
5. the automatic loading and unloading system according to claim 1 for intelligence manufacture, it is characterised in that: the locating module
Including luminous point or reflecting marking.
6. a kind of automatic loading/unloading method as described in any one in claim 1-5 for intelligence manufacture, it is characterised in that: packet
Include following steps:
Step 1, the omnidirectional images that material is acquired by image capture module, by processor to the comprehensive figure of the material
As being handled, extracts the characteristic information of material and be stored in memory；
Step 2 establishes coordinate system, and the position coordinates by gripper in the coordinate system by coordinate origin of image capture module
It is stored in memory；
During step 3, material transmission, image capture module will be taken with the realtime graphic of certain frequency shooting material
Material realtime graphic be sent to memory；
Step 4, processor are analyzed and processed the material realtime graphic stored in memory, obtain the status information of material,
The status information of the material includes the placing attitude of material and coordinate position, the mobile speed of material relative image acquisition module
Degree and moving direction；
Step 5, according to the status information of material in step 4, processor controls handling module movement, controls the state letter of gripper
The status information of breath and the material tends to consistent, and the status information of the gripper includes the open configuration and machine of gripper
Coordinate position, movement speed and the motion direction of machinery claw relative image acquisition module.
Step 6, processor control gripper grab material.
7. the automatic loading/unloading method according to claim 6 for intelligence manufacture, it is characterised in that: in steps of 5, institute
The status information for stating gripper is calculated using the wireless locating module, luminous point or reflecting marking as coordinate.
8. the automatic loading/unloading method according to claim 6 for intelligence manufacture, it is characterised in that: in steps of 5, institute
The status information for stating gripper is calculated by the angle changing of the angular transducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811459662.XA CN109625922A (en) | 2018-11-30 | 2018-11-30 | A kind of automatic loading and unloading system and method for intelligence manufacture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811459662.XA CN109625922A (en) | 2018-11-30 | 2018-11-30 | A kind of automatic loading and unloading system and method for intelligence manufacture |
Publications (1)
| Publication Number | Publication Date |
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| CN109625922A true CN109625922A (en) | 2019-04-16 |
Family
ID=66070505
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201811459662.XA Pending CN109625922A (en) | 2018-11-30 | 2018-11-30 | A kind of automatic loading and unloading system and method for intelligence manufacture |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110539991A (en) * | 2019-10-21 | 2019-12-06 | 南京可信机器人研究院有限公司 | automatic garbage truck and automatic manipulator thereof |
| CN112693843A (en) * | 2020-12-22 | 2021-04-23 | 江西龙芯微科技有限公司 | Integrated circuit feeding mechanism |
| CN112809672A (en) * | 2020-12-31 | 2021-05-18 | 安徽飞凯电子技术有限公司 | Target positioning system for mechanical arm |
| CN113602802A (en) * | 2021-08-26 | 2021-11-05 | 深圳市鑫中岩工业设备有限公司 | Automatic feeding method for spraying line |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113602802A (en) * | 2021-08-26 | 2021-11-05 | 深圳市鑫中岩工业设备有限公司 | Automatic feeding method for spraying line |
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Application publication date: 20190416 |