CN110562741A - Machine vision fused separating type station robot and production platform - Google Patents
Machine vision fused separating type station robot and production platform Download PDFInfo
- Publication number
- CN110562741A CN110562741A CN201910998456.4A CN201910998456A CN110562741A CN 110562741 A CN110562741 A CN 110562741A CN 201910998456 A CN201910998456 A CN 201910998456A CN 110562741 A CN110562741 A CN 110562741A
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- Prior art keywords
- carrier
- cylinder
- assembly
- transfer robot
- clamping jaw
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 239000000463 material Substances 0.000 claims abstract description 13
- 230000000007 visual effect Effects 0.000 claims description 19
- 230000001939 inductive effect Effects 0.000 claims description 16
- 230000001960 triggered effect Effects 0.000 claims description 3
- 230000001976 improved effect Effects 0.000 abstract description 4
- 230000032258 transport Effects 0.000 description 6
- 230000006698 induction Effects 0.000 description 4
- 239000000969 carrier Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008093 supporting effect Effects 0.000 description 1
Classifications
-
- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- 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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
-
- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
- B65G2203/0283—Position of the load carrier
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a machine vision fused separated station robot and a production platform, which are used for carrying a carrier loaded with materials. Because the vision carrying assembly is adopted to position the carrier loaded with the materials, the preset carrier position data and the position data of the carrier detected by the vision positioning assembly are compared to calculate the real-time position of the carrier, and then the carrier is grabbed and carried, the matching tolerance range of the clamping jaw and the carrier is large, and the grabbing precision and the grabbing success rate are improved.
Description
Technical Field
The invention relates to a separated station robot fusing machine vision and a production platform, and belongs to the technical field of automatic carrying robots.
Background
Along with the improvement of the labor cost of people, the burden of enterprises caused by some simple carrying activities is larger and larger, the physical strength of workers is greatly consumed, the working efficiency is reduced, and therefore the processes need to be completed through a robot.
The carrying equipment in the prior art has the defects of poor grabbing precision, low grabbing success rate and small tolerance range in the clamping process.
disclosure of Invention
The invention aims to provide a separated station robot fusing machine vision and a production platform, which have the advantages of large tolerance range, high grabbing precision and high grabbing success rate.
In order to achieve the purpose, the invention provides the following technical scheme: a transfer robot is used for transferring carriers loaded with materials and comprises a multi-shaft truss, a clamping jaw assembly, a visual positioning assembly and a controller, wherein the clamping jaw assembly is arranged on the multi-shaft truss and can move on the multi-shaft truss, the visual positioning assembly is fixed on the clamping jaw assembly, the controller is in signal connection with the multi-shaft truss, the clamping jaw assembly and the visual positioning assembly, the visual positioning assembly shoots the carried carriers to form pictures, and the controller controls the clamping jaw assembly to rotate and grab the corresponding carriers according to the pictures.
Further, clamping jaw assembly is including setting up support frame on the multiaxis truss, fixing motor on the support frame, install cylinder on the output shaft of motor and installing two clamping jaws on the cylinder, motor drive the cylinder is relative the support frame rotates, two the clamping jaw sets up relatively and passes through cylinder drive realizes relative movement, cylinder and motor by controller control.
Further, the cylinder includes the cylinder body and outwards extends formation and two plungers of relative movement in the cylinder body, the clamping jaw is fixed on the plunger, and two the clamping jaw is one-to-one with two the plunger sets up.
Further, the clamping jaw assembly still include be used for with the lug of recess butt joint on the carrier, the lug is located between two clamping jaws, the lug passes through the connecting rod to be fixed the below of cylinder, the clamping jaw include with diaphragm and vertical fixation that the plunger is connected are in the clamping jaw board of diaphragm below, be formed with the edge on the diaphragm the transverse groove that the moving direction of clamping jaw extends, the connecting rod runs through the transverse groove.
Further, the clamping jaw assembly further comprises a sensor arranged on the clamping jaw and used for sensing a carrier below the clamping jaw assembly, and the sensor is in signal connection with the controller.
Furthermore, the clamping jaw assembly further comprises a first inductive switch which is arranged on the clamping jaw and is triggered after being contacted with the carrier, and the first inductive switch is in signal connection with the controller.
Further, the clamping jaw assembly further comprises a second inductive switch used for detecting whether the clamping jaw is located at an original point position, wherein the second inductive switch comprises an inductive part installed on the supporting frame and a trigger part fixed on the cylinder and corresponding to the inductive part to realize triggering.
Furthermore, a limiting assembly used for limiting the rotation amplitude of the air cylinder relative to the support frame is arranged on the clamping jaw assembly.
Further, the visual positioning assembly comprises a light source camera fixed on the support frame, and the camera is positioned above the light source.
The invention also provides the following technical scheme that the separated station robot fusing machine vision and the production platform comprise an automatic guide transport vehicle and a carrying robot, wherein after the automatic guide transport vehicle transports a carrier loaded with materials to the lower part of the carrying robot, the carrying robot moves the carrier to the next station; the carrying robot is used for carrying a carrier loaded with materials and comprises a multi-shaft truss and a clamping jaw assembly, wherein the clamping jaw assembly is arranged on the multi-shaft truss and can move on the multi-shaft truss, the carrying robot further comprises a visual positioning assembly fixed on the clamping jaw assembly and a controller in signal connection with the multi-shaft truss, the clamping jaw assembly and the visual positioning assembly, the visual positioning assembly shoots the carried carrier to form a picture, and the controller controls the clamping jaw assembly to rotate and grab the corresponding carrier according to the picture.
The invention has the beneficial effects that: because the vision carrying assembly is adopted to position the carrier loaded with the materials, the preset carrier position data and the position data of the carrier detected by the camera are compared to calculate the real-time position of the carrier, and then the carrier is grabbed and carried, the matching tolerance range of the clamping jaw and the carrier is large, and the grabbing precision and the grabbing success rate are improved.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings.
Drawings
Fig. 1 is a schematic structural view of a separating station robot and a production platform with fused machine vision according to an embodiment of the present invention;
FIG. 2 is a schematic view of the jaw assembly of FIG. 1;
FIG. 3 is a schematic view of the jaw assembly of FIG. 2 in another orientation;
Fig. 4 is a schematic view of the carrier structure of fig. 1.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
Referring to fig. 1, a transfer robot according to an embodiment of the present invention is configured to transfer a carrier 11 loaded with materials, the transfer robot includes a multi-axis truss 12 and a jaw assembly disposed on the multi-axis truss 12 and movable on the multi-axis truss 12, the transfer robot further includes a visual positioning assembly 100 fixed to the jaw assembly, and a controller (not shown) in signal connection with the multi-axis truss 12, the jaw assembly and the visual positioning assembly 100, the visual positioning assembly 100 captures an image of the carrier 11 to be transferred, and the controller controls the jaw assembly to rotate and grasp the corresponding carrier 11 according to the image. The vision carrying assembly positions the carrier 11 loaded with materials, the preset position data of the carrier 11 and the position data of the carrier 11 detected by the vision carrying assembly 100 are compared to calculate the real-time position of the carrier 11, and then grabbing and carrying are performed, the matching tolerance range of the clamping jaw 16 and the carrier 11 is large, and grabbing precision and grabbing success rate are improved.
referring to fig. 2, the clamping jaw assembly includes a support frame 10 disposed on a multi-axis truss 12, a motor 3 fixed on the support frame 10, a cylinder 4 mounted on an output shaft of the motor 3, and two clamping jaws 16 mounted on the cylinder 4, the motor 3 drives the cylinder 4 to rotate relative to the support frame 10, the two clamping jaws 16 are disposed opposite to each other and driven by the cylinder 4 to realize relative movement, and the cylinder 4 and the motor 3 are controlled by a controller. Specifically, the cylinder 4 includes a cylinder body 41 and two plungers (not shown in the drawings) which are formed to extend outward from the inside of the cylinder body 41 and move relative to each other, the holding jaw 16 is fixed on the plungers, and the two holding jaws 16 and the two plungers are arranged in a one-to-one manner. Preferably, the cylinder 4 is a double acting cylinder, alternately fed from both sides of the plunger, outputting force in both directions.
In order to more accurately position the carrier 11, a groove 17 is provided on the carrier 11, the gripper assembly further includes a projection 9 for abutting against the groove 17 on the carrier 11, the projection 9 is located between two grippers 16, the projection 9 is fixed below the cylinder 4 through a connecting rod 13, the gripper 16 includes a cross plate 1601 connected with a plunger and a gripper plate 1602 vertically fixed below the cross plate 1601, a transverse slot 15 extending along the moving direction of the gripper 16 is formed on the cross plate 1601, and the connecting rod 13 penetrates through the transverse slot 15.
The gripper assembly further comprises a sensor 8 arranged on the gripper 16 for sensing a carrier 11 below the gripper assembly, the sensor 8 being in signal connection with the controller. When sensor 8 detects that vehicle 11 is below, the controller commands multi-axis truss 12 to drive the jaw assembly and visual positioning assembly 100 downward.
The clamping jaw assembly further comprises a first inductive switch which is arranged on the clamping jaw 16 and is triggered after being contacted with the carrier 11, specifically, the first inductive switch comprises an inductive part 7 and a trigger part 6, and the first inductive switch is in signal connection with the controller; when the first induction switch is closed, the controller commands the air cylinder 4 to drive the clamping jaw 16 to clamp; and then, the controller commands the multi-shaft truss 12 to drive the clamping jaw assembly and the carrier 11 to move to the next station, then loosens the clamping jaw 16, unloads the carrier 11, and in order to make the clamping jaw assembly return to the original point and facilitate the carrying operation again, a second inductive switch for detecting whether the clamping jaw 16 is located at the original point position is further arranged on the clamping jaw assembly, and the second inductive switch comprises an induction piece 11 installed on the support frame 10 and a trigger piece 12 which is fixed on the air cylinder 4 and corresponds to the induction piece to realize triggering. Preferably, the first inductive switch or the second inductive switch is a hall switch.
The clamping jaw assembly is provided with a limiting assembly for limiting the rotation amplitude of the cylinder 4 relative to the support frame 10. Specifically, the limiting assembly comprises a first stop block 18 fixed below the support frame 10 and a second stop block 5 fixed on the cylinder 4, and the first stop block 18 and the second stop block 5 are contacted to limit the reverse rotation of the cylinder 4 along the original rotation direction. The limiting assembly in this embodiment limits the cylinder 4 to rotate 360 degrees relative to the support frame 10.
The visual positioning assembly 100 includes a light source 1 and a camera 2 fixed on a support frame 10, and the camera 2 is located above the light source 1.
The transfer robot can be combined with an automatic guide transport vehicle 19 for use to form a separated station robot production platform integrated with machine vision; after the automatic guided transporting vehicle 19 transports the carrier 11 loaded with the materials to the lower part of the transporting robot, the transporting robot moves the carrier 11 to the next station; forming a production platform. Preferably, the automatic guided vehicle is a latent jacking AGV.
When the invention is used, a carrier 11 loaded with materials is carried to the lower part of a multi-shaft truss 12 by an automatic guide transport vehicle 19, a visual positioning assembly 100 shoots the carried carrier 11 to form a picture, a controller compares the position data of the carrier 11 with the picture of the carrier 11 shot by the visual positioning assembly 100 to calculate the real-time position of the carrier 11, and compares the actual position of the carrier 11 with the deflection angle of the preset position data of the carrier 11, then the multi-shaft truss 12 drives a clamping jaw assembly to move to the upper part of the carrier 11, meanwhile, the controller controls a motor 3 to rotate according to the compared deflection angle to deflect the clamping jaw assembly, when a sensor 8 detects that the carrier 11 is positioned at the lower part of the clamping jaw assembly, the controller commands the multi-shaft truss 12 to drive the clamping jaw assembly to move downwards, after a first induction switch contacts the carrier 11, the controller controls a cylinder 4 to drive the clamping jaw 16 to move relatively to grasp the, then the multi-shaft truss 12 drives the clamping jaw assembly and the carrier 11 to move together to the next station, after the next station is reached, the air cylinder drives the clamping jaw 16 to move reversely to release the carrier 11, and the motor 3 rotates to enable the clamping jaw assembly to return to the original point.
Because the vision carrying assembly 100 is adopted to position the carrier 11 loaded with materials, the preset position data of the carrier 11 and the position data of the carrier 11 detected by the vision positioning assembly 100 are compared to calculate the real-time position of the carrier 11, and the deflection angle of the actual position of the carrier 11 compared with the preset position data of the carrier 11 is calculated by comparison to further grab and carry, the matching tolerance range of the clamping jaw 16 and the carrier 11 is large, and the grabbing precision and the grabbing success rate are improved.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A transfer robot is used for transferring a carrier loaded with materials and comprises a multi-shaft truss and a clamping jaw assembly which is arranged on the multi-shaft truss and can move on the multi-shaft truss, and is characterized by further comprising a visual positioning assembly fixed on the clamping jaw assembly and a controller in signal connection with the multi-shaft truss, the clamping jaw assembly and the visual positioning assembly, wherein the visual positioning assembly shoots the carried carrier to form a picture, and the controller controls the clamping jaw assembly to rotate and grab the corresponding carrier according to the picture.
2. The transfer robot of claim 1, wherein the jaw assembly comprises a support frame disposed on the multi-axis truss, a motor fixed to the support frame, a cylinder mounted on an output shaft of the motor, and two jaws mounted on the cylinder, the motor driving the cylinder to rotate relative to the support frame, the two jaws being disposed opposite to each other and driven by the cylinder to perform relative movement, the cylinder and the motor being controlled by the controller.
3. The transfer robot as claimed in claim 2, wherein the cylinder includes a cylinder body and two plungers extended outwardly from the cylinder body and relatively movable, the gripping jaws being fixed to the plungers, and the two gripping jaws and the two plungers being arranged in a one-to-one correspondence.
4. The transfer robot of claim 3, wherein the gripper assembly further comprises a projection for engaging a recess in the carrier, the projection being located between the two grippers, the projection being secured below the cylinder by a connecting rod, the gripper comprising a cross plate connected to the plunger and a gripper plate secured vertically below the cross plate, the cross plate having a transverse slot formed therein extending in the direction of movement of the gripper, the connecting rod extending through the transverse slot.
5. The transfer robot of claim 2, wherein the gripper assembly further comprises a sensor disposed on the gripper for sensing a carrier under the gripper assembly, the sensor in signal communication with the controller.
6. The transfer robot of claim 2, wherein the gripper assembly further comprises a first inductive switch disposed on the gripper for being triggered upon contact with the carrier, the first inductive switch being in signal communication with the controller.
7. the transfer robot as claimed in claim 3, wherein the jaw assembly further comprises a second sensing switch for detecting whether the jaw is at the origin position, the second sensing switch comprising a sensing member mounted on the support frame and a triggering member fixed to the cylinder and corresponding to the sensing member for triggering.
8. The transfer robot as claimed in claim 2, wherein the jaw assembly is provided with a limiting assembly for limiting the rotation amplitude of the cylinder relative to the support frame.
9. A transfer robot as recited in claim 2, wherein the visual positioning assembly includes a light source and a camera secured to the support frame, the camera being positioned above the light source.
10. A split-station robot and production platform incorporating machine vision, comprising an automated guided vehicle and a transfer robot according to any one of claims 1 to 9, wherein the automated guided vehicle moves a carrier loaded with material to a next station after transporting the carrier to a position below the transfer robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910998456.4A CN110562741A (en) | 2019-10-21 | 2019-10-21 | Machine vision fused separating type station robot and production platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910998456.4A CN110562741A (en) | 2019-10-21 | 2019-10-21 | Machine vision fused separating type station robot and production platform |
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| Publication Number | Publication Date |
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| CN110562741A true CN110562741A (en) | 2019-12-13 |
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| CN201910998456.4A Pending CN110562741A (en) | 2019-10-21 | 2019-10-21 | Machine vision fused separating type station robot and production platform |
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Cited By (2)
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| CN112478779A (en) * | 2020-11-27 | 2021-03-12 | 北京石油化工学院 | Base plate visual positioning method and system and base plate carrying joint robot device |
| CN112478746A (en) * | 2020-09-29 | 2021-03-12 | 苏州华兴源创科技股份有限公司 | Product conveying device and conveying mechanism thereof |
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