CN114029958A - Grid installation clamping jaw device based on visual inspection - Google Patents
Grid installation clamping jaw device based on visual inspection Download PDFInfo
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- CN114029958A CN114029958A CN202111515695.3A CN202111515695A CN114029958A CN 114029958 A CN114029958 A CN 114029958A CN 202111515695 A CN202111515695 A CN 202111515695A CN 114029958 A CN114029958 A CN 114029958A
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- 238000009434 installation Methods 0.000 title claims abstract description 24
- 238000011179 visual inspection Methods 0.000 title claims description 19
- 230000000007 visual effect Effects 0.000 claims abstract description 20
- 238000001514 detection method Methods 0.000 claims abstract description 18
- 238000000465 moulding Methods 0.000 claims description 52
- 238000006073 displacement reaction Methods 0.000 claims description 30
- 238000004364 calculation method Methods 0.000 claims description 8
- 238000000926 separation method Methods 0.000 claims description 5
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 claims description 4
- 230000009471 action Effects 0.000 abstract description 11
- 239000000463 material Substances 0.000 description 17
- 238000000034 method Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 10
- 230000000875 corresponding effect Effects 0.000 description 4
- 230000000712 assembly Effects 0.000 description 3
- 238000000429 assembly Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
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- 238000005516 engineering process Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
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- 238000007781 pre-processing Methods 0.000 description 1
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- 238000003860 storage Methods 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
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Abstract
The invention relates to a grid mounting clamping jaw device based on visual detection, which comprises a clamping jaw body, a grid back plate grabbing module, a visual detection module and a control module. The visual detection module is used for acquiring real-time images of an installation site in advance, and the control module is used for controlling the grating back plate grabbing module to be positioned to the first target position to grab the grating back plate to be installed and then to be positioned to the second target position to complete loading and installation actions according to the real-time images. Compared with the traditional manual mode, the modernization mode with higher automation degree has higher efficiency on one hand, and can save time cost and labor cost; on the other hand, the positioning is more accurate, the misoperation risk can be avoided, and the yield and the finished product quality are improved.
Description
Technical Field
The invention relates to the technical field of automobile spare and accessory part production, in particular to a grid taking and feeding device.
Background
The automobile grille is used as an important part of an automobile and mainly has the main functions of preventing foreign objects from damaging parts in a carriage and increasing the decoration attractiveness by matching with air intake ventilation of a water tank, an engine, an air conditioner and the like. At present, the automobile grille production line generally adopts the manual work to carry the grille backboard lower decorative strip and the like to the die, and the material taking, feeding and installing process is completed.
On one hand, however, the manual installation efficiency is low, the modern production requirements are not met, and the time and the labor cost are wasted; on the other hand, the inevitable installation deviation causes the influence of the feeding error on the feeding, and the yield and the quality of finished products are reduced. Therefore, how to provide a convenient, fast, accurate and error-free grid material taking and feeding installation device is an important technical problem to be solved urgently at present.
Disclosure of Invention
In order to solve the technical problem, the invention provides a grid mounting clamping jaw device based on visual detection, which comprises a clamping jaw body 100, a grid back plate grabbing module 200, a visual detection module 300 and a control module 400;
the grid back plate grabbing module 200 is arranged on the clamping jaw body 100;
the visual inspection module 300 is connected with the control module 400 and is used for acquiring a real-time image of an installation site;
the control module 400 is further connected to the grating back panel grabbing module 200, and configured to control the grating back panel grabbing module 200 to move to a first target position to grab the grating back panel to be installed according to the real-time image, and then move to a second target position to install the grating back panel to be installed.
Further, the control module 400 includes:
a first image recognition unit 410, connected to the visual inspection module 300, for receiving the real-time image and determining a first target position and a second target position according to the real-time image;
a first calculating unit 420 connected to the first image recognizing unit 410, configured to determine first displacement data and second displacement data of the grid back plate grabbing module 200 according to the first target position and the second target position;
and a first signal generating unit 430, connected to the first calculating unit 420 and the grating backplane grabbing module 200, and configured to respectively send control signals according to the first displacement data and the second displacement data, control the grating backplane grabbing module 200 to move to the first target position to grab the grating backplane to be installed, and then move to the second target position to install the grating backplane to be installed.
Further, the grid back panel grabbing module 200 includes: a backplate drive assembly 210 and a backplate clamping assembly 220;
the back plate driving assembly 210 is configured to drive the back plate clamping assembly 220 to reciprocate to move to the first target position and the second target position;
the back plate clamping assembly 220 is used for clamping the grid back plate to be installed at the first target position and releasing the grid back plate to be installed at the second target position.
Further, the backboard clip assembly 220 comprises a front backboard clip 221 and a backboard clip 222.
Further, the grid backboard grabbing module 200 further comprises: a backplane separation assembly 230;
the back plate separating assembly 230 includes a back plate separating traverse member 231, a back plate separating lift member 232, and a stopper 233.
Further, the grid mounting clamping jaw device also comprises a grid lower decorative strip grabbing module 500;
the control module 400 is further connected to the lower grating trim grabbing module 500, and configured to control the lower grating trim grabbing module 500 to move to a third target position to grab the lower grating trim to be installed and then move to a fourth target position to install the lower grating trim to be installed according to the real-time image.
Further, the control module includes:
a second image recognition unit 440, connected to the visual inspection module 300, for receiving the real-time image and determining a third target position and a fourth target position according to the real-time image;
the second calculating unit 450 is connected to the second image recognizing unit 440, and is configured to determine third displacement data and fourth displacement data of the grid lower molding grabbing module 500 according to the third target position and the fourth target position;
and a second signal generating unit 460, connected to the second calculating unit 450 and the grating lower decorative strip grabbing module 500, configured to respectively send control signals according to the third displacement data and the fourth displacement data, control the grating lower decorative strip grabbing module 500 to move to the third target position to grab the grating lower decorative strip to be installed, and then move to the fourth target position to install the grating lower decorative strip to be installed.
Further, the grating lower molding grabbing module 500 comprises a lower molding driving assembly 510 and a lower molding grabbing assembly 520;
the lower molding driving assembly 510 is configured to drive the lower molding grabbing assembly 520 to reciprocate to move to the third target position and the fourth target position;
the lower molding grabbing component 520 is configured to grab the to-be-installed grid lower molding at the third target position and lay down the to-be-installed grid lower molding at the fourth target position.
Further, the lower molding grabbing component 520 comprises a movable member 521 and a grabbing member 522;
the gripping member 522 is movably mounted on the lower molding driving member 510 through the movable member 521.
Further, the grabbing member 522 is a suction cup structure.
According to the grid mounting clamping jaw device based on visual detection, the real-time image of a mounting site is collected in advance through the visual detection module 300, and then the grid back plate grabbing module 200 is controlled to be positioned to the first target position (optional but not limited to a back plate material box) through the control module 400 according to the real-time image, so that a grid back plate A to be mounted is grabbed (a back plate material taking process), and then the grid back plate A is positioned to the second target position (a mounting position) to complete a feeding and mounting action (a back plate feeding process). Compared with the traditional manual mode, the modernization mode with higher automation degree has higher efficiency on one hand, and can save time cost and labor cost; on the other hand, the positioning is more accurate, the misoperation risk can be avoided, and the yield and the finished product quality are improved.
Drawings
FIG. 1 is a schematic view of one embodiment of a grid mounted jaw assembly of the present invention;
FIG. 2 is a block diagram of one embodiment of a grid mounted clamping jaw assembly of the present invention;
FIG. 3 is a schematic view of one embodiment of a visual inspection module of the grid mounted jaw assembly of the present invention;
FIG. 4 is a block diagram of one embodiment of a control module of the grid mounted jaw assembly of the present invention;
FIGS. 5-9 are schematic views of one embodiment of a grid back plate grasping module of the grid mounting jaw assembly of the present invention;
FIG. 10 is a block diagram of another embodiment of a control module of the grid mounted jaw apparatus of the present invention;
fig. 11 is a schematic view of one embodiment of a grid lower molding gripping module of the grid mounting jaw apparatus of the present invention.
Detailed Description
As shown in fig. 1-2, the invention provides a grid mounting clamping jaw device based on visual detection, which comprises a clamping jaw body 100, a grid back plate grabbing module 200, a visual detection module 300 and a control module 400. Wherein, the grating backboard grabbing module 200 is arranged on the clamping jaw body 100. And the visual detection module 300 is connected with the control module 400 and is used for acquiring real-time images of an installation site. And the control module 400 is connected with the visual detection module 300 and the grid backboard grabbing module 200, and is used for controlling the grid backboard grabbing module 200 to move to a first target position to grab the grid backboard a to be installed and then move to a second target position to install the grid backboard a to be installed according to the real-time image, so that the loading and installation actions of the grid backboard are completed.
In this embodiment, a real-time image of an installation site is collected in advance by the visual inspection module 300, and then the control module 400 controls the grid backboard grabbing module 200 to position to the first target position (optionally, but not limited to, a backboard bin), grab the grid backboard a to be installed (a backboard fetching process), and position to the second target position (an installation position) to complete a loading and installation operation (a backboard loading process) according to the real-time image. Compared with the traditional manual mode, the modernization mode with higher automation degree has higher efficiency on one hand, and can save time cost and labor cost; on the other hand, the positioning is more accurate, the misoperation risk can be avoided, and the yield and the finished product quality are improved.
Specifically, as shown in fig. 1 and 3, the vision inspection module 300 may optionally but not limited to include an image acquisition unit 310 and a connector 320, and preferably adopts a 3D camera, and is disposed above the clamping jaw body 100 through the connectors such as screws, bolts, connecting flanges, and welding, so as to acquire real-time images of an installation site, especially real-time images of a storage location and an installation location of a grid back panel to be installed, and the 3D vision guides the grid installation clamping jaw device to complete the installation actions of material taking and material loading. The specific coverage of the real-time image may be determined according to the range of the current working environment, and particularly, the real-time image around the to-be-installed grating back plate needs to be collected and sent to the control module 400 in a wired or wireless manner, such as a blue line, WiFi, and a wire.
More specifically, as shown in fig. 4, the control module 400 may optionally but not exclusively use a single chip, an FPGA, or other terminal chips to complete corresponding functions in steps. Preferably, the control module 400, optionally but not limited to, includes: a first image recognition unit 410, a first calculation unit 420, and a first signal generation unit 430.
The first image recognition unit 410 is configured to receive a real-time image of an installation site, determine to capture a first target position of the grid back plate to be installed and a second target position of the grid back plate expected to be installed according to the real-time image, preferably obtain the first target position and the second target position through analysis of an image recognition technology, and more preferably perform preprocessing such as noise reduction on the real-time image before analyzing the real-time image, so as to further improve the positioning accuracy of the target position. Specifically, the method comprises the following steps: the first target position is a material taking position which needs to be reached by the grating backboard grabbing module 200, namely the current position of the grating backboard a to be installed, and the grating backboard is placed in the material box in an up-and-down stacking manner, for example, but not limited to, the position of the material box is defined as the first target position; the second target position is a material placing position which needs to be reached by the grating backboard grabbing module 200, namely the position to be subsequently installed and positioned for the grating backboard A to be installedThe position, for example, the grille back plate is mounted on the vehicle, and optionally, but not limited to, the position of four wheels of the vehicle is defined as the second target position. More specifically, the first target position, optionally but not limited to being represented by three-dimensional coordinates of horizontal, vertical and vertical, is designated as X1，Y1，Z1(ii) a The second target position, optionally but not limited to being represented by a three-dimensional coordinate of horizontal, vertical and vertical, is designated as X2，Y2，Z2。
The first calculation unit 420 determines first displacement data (material taking displacement) and second displacement data (material loading displacement) of the grid-mounted jaw apparatus based on the first target position and the second target position. Specifically, the displacement data may also optionally, but not exclusively, include three-dimensional displacement data of horizontal, vertical and horizontal. By way of example, and not limitation, a point of the grid-mounted jaw assembly may be set as a reference point (four corners, a center point, etc. of a plane) and three-dimensional coordinates may be defined as X0，Y0，Z0As an initial point for grid mounting jaw arrangements. The current position (material taking position) of the grid backboard acquired by the vision detection module 300, i.e. the first target position X1，Y1，Z1The position (feeding position) of the grid back plate to be installed, namely a second target position X2，Y2，Z2Initial point X of mounting clamping jaw device with the datum point grid0，Y0，Z0And (7) corresponding. Then, the first calculation unit 420 can calculate that the first displacement data of the grid-mounted clamping jaw device is (X)1-X0，Y1-Y0，Z1-Z0) The XYZ three-dimensional data needing to be moved in the material taking process is represented by (X) second displacement data2-X1，Y2-Y1，Z2-Z1) And the XYZ three-dimensional data needing to be moved in the feeding process.
And the first signal generation unit 430 is connected with the first calculation unit 420 and the grating backboard grabbing module 200, and respectively sends control signals to the grating backboard grabbing module 200 according to the first displacement data and the second displacement data, controls to move to a first target position to grab the grating backboard a to be installed, and then moves to a second target position to install the grating backboard a to be installed, so that the loading and installation actions of the grating backboard are completed. Specifically, the control signal may be, but not limited to, a current magnitude, a hydraulic magnitude, etc. for driving the grating backplane grabbing module 200 to operate.
In this embodiment, a specific real-time manner of the vision inspection module 300 and the control module 400 is presented, as well as how the positioning of the grid mounting jaw assembly and the grid back plate take-off and loading mounting process are accomplished in cooperation. This mode degree of automation is high, and is simple clear, and the action is rapid, can be with the grid backplate accurate material loading to relevant position of getting. It should be noted that the specific implementation of the visual inspection module 300 and the control module 400 is not limited to this example, and the division of the modules is only a functional division and does not limit the physical concept thereof. Those skilled in the art will appreciate that other embodiments within the spirit of the invention are also within the scope of the invention as claimed.
More specifically, as shown in fig. 5-9, the grid backplane grabbing module 200 optionally, but not limited to, includes a backplane drive assembly 210 and a backplane clamping assembly 220. The back plate driving assembly 210, preferably an air cylinder driving structure, drives the piston rod through the hydraulic cylinder to drive the back plate clamping assembly 220 to reach a designated position to complete a corresponding action; as shown in fig. 6-8, the back plate clamping assembly 220, preferably including a front back plate clamping member 221 and a back plate clamping member 222, is disposed at the end of the back plate driving assembly 210, and the end of the clamping member, which may be selected but not limited to a clamping block, is driven by the back plate driving assembly 210 to reciprocate, so as to clamp the grating back plate at a first target position and lower the grating back plate at a second target position, thereby completing the grating back plate material taking, feeding and mounting process. More specifically, the number and position of the back plate clamping assemblies 220 can be arbitrarily set by those skilled in the art according to the actual size, shape and weight of the grid back plate, and preferably includes two clamping jaw assemblies evenly distributed on both sides of the clamping jaw body 100. More specifically, as shown in fig. 5, the grid backplane capture module 200 may optionally, but not exclusively, include a backplane separation assembly 230. As shown in fig. 9, the back plate separating assembly 230 preferably includes a back plate separating traverse member 231, a back plate separating lift member 232 and a stopper 233, the stopper 233 is moved laterally and longitudinally, and the stopper 233 is inserted between two stacked grid back plates to separate the adhered back plates when the grid back plates stacked up and down are grasped in the magazine, thereby avoiding grasping two or more back plates at a time.
In this embodiment, a specific embodiment of the grid back plate grabbing module 200 is given, when a grid back plate needs to be installed, the visual detection module 300 collects a real-time image of a field environment, and sends the real-time image to the control module 400, the control module 400 analyzes the real-time image, performs visual positioning on the back plate a to be installed, and adjusts the position of the grid installation clamping jaw device according to the visual positioning effect, when the grid installation clamping jaw device moves to the loading position of the back plate a (when the horizontal and vertical coordinates of the first target position are in place), the back plate driving assemblies 210 located at two sides of the clamping jaw body 100 move to drive the back plate clamping assembly 220 (the front back plate clamping member 221 and the back plate clamping member 222) to move downwards to the first target position (the vertical coordinate of the first target position is in place) -the back plate clamping assembly 220 moves to clamp the end portion of the back plate a-the back plate separation traversing member 231 in the back plate separation assembly 230, the baffle block 233 is positioned outside the backboard A, the baffle block 233 is driven to move to a certain position below the backboard A to be grabbed by the action of the backboard separating and traversing piece 231, the baffle block 233 is inserted into the lower side of the backboard, the baffle block 233 separates the grabbing target backboard A from the lower backboard, the backboard driving component 210 moves to move the backboard clamping component 220 upwards, the lower backboard is blocked by the baffle block 233 until the two backboards are completely separated, the target backboard is taken out of the bin, the backboard separating and traversing piece and the backboard separating and lifting piece 232 move to drive the baffle block 233 to return to the initial position, the backboard driving component 210 drives the backboard clamping component 220 to move to the position (a second target position) where the backboard needs to be installed, the backboard clamping component 220 moves to release the clamping block, and the loading and installing actions of the grid backboard are completed.
More preferably, as shown in fig. 1, 2, 10 and 11, the grid mounting jaw device may optionally, but not exclusively, include a grid lower molding strip grabbing module 500. The control module 400 is further configured to control the lower grating trim grabbing module 500 to move to a third target position to grab the lower grating trim to be installed according to the real-time image, and then move to a fourth target position to install the lower grating trim, so as to complete the loading and installing actions of the lower grating trim. The control module 400 comprises a second image recognition unit 440 connected to the visual inspection module 300, and is configured to receive the real-time image and determine a third target position and a fourth target position according to the real-time image; the second calculating unit 450 is connected to the second image recognizing unit 440 and configured to determine third displacement data and fourth displacement data of the lower grid molding grabbing module 500 according to the third target position and the fourth target position; and a second signal generating unit 460, connected to the second calculating unit 450 and the lower grating decorative strip grabbing module 500, for respectively sending out control signals according to the third displacement data and the fourth displacement data, and controlling the lower grating decorative strip grabbing module 500 to move to a third target position to grab the lower grating decorative strip to be installed, and then to move to a fourth target position to install the lower grating decorative strip to be installed.
In the embodiment, the grating mounting clamping jaw device is additionally provided with the grating lower decorative strip grabbing module 500, the grating back plate mounting and the grating lower decorative strip mounting are integrated into the same device mechanism, and meanwhile, the feeding mounting of the back plate and the lower decorative strip is compatible, so that the labor cost and the time cost can be further reduced. Moreover, the grating lower molding grabbing module 500 is similar to the grating back plate grabbing module 200, and the installation position is located by an image recognition technology, and the operation steps such as the specific components, the calculation method, the location method and the like of the structure are consistent with the grating back plate grabbing module 200, which is not described herein again.
More specifically, as shown in fig. 11, the grille lower molding gripping module 500 may optionally, but not exclusively, include a lower molding driving assembly 510 and a lower molding gripping assembly 520. The lower molding driving assembly 510, preferably an air cylinder driving structure, drives the lower molding grabbing assembly 520 to reciprocate through a hydraulic cylinder, and grabs the lower molding B at a target position by corresponding actions, so as to complete the loading and installation process of the lower molding B; a lower panel gripping assembly 520, preferably comprising a movable member 521 and a gripping member 522; the movable member 521 is preferably movably connected to the lower molding driving member 510 to freely adjust the angle of the grasping member 522; the gripping member 522 is preferably a suction cup structure to freely attract and drop the lower grid molding, which is convenient and quick. More specifically, the number and the position of the lower molding grabber 520 can be arbitrarily set by those skilled in the art according to the actual size, shape, weight, etc. of the lower molding, and are preferably symmetrically distributed on both sides of the lower molding driving assembly 510.
In this embodiment, a specific embodiment of the lower grid molding grabbing module 500 is provided, when the lower grid molding B needs to be installed, the visual detection module 300 collects a real-time image of a field environment, sends the real-time image to the control module 400, the control module 400 analyzes the real-time image, visually locates the lower grid molding to be installed, adjusts the position of the lower grid molding grabbing module 500 according to the visual locating effect, moves to the upper material level of the lower grid (when the horizontal and vertical coordinates of the third target position are in place), and the lower molding driving component 510 of the lower grid molding grabbing module 500 acts to drive the lower molding grabbing components 520 at two sides to move to the designated position on the surface of the lower grid — the lower molding grabbing component 520 acts (optionally but not limited to grabbing by a suction cup) -the grabbing action of the lower grid molding B is completed-the lower grid molding grabbing module 500 moves to the to-be installed position (fourth target position) of the lower grid molding grabbing component 520 acts (optionally but not limited to loose the suction cup Open) -the lower molding strip B is placed at the designated position, and the loading and installation actions of the lower molding strip B are completed.
In the embodiment, the whole process of how the grating lower decorative strip grabbing module 500 positions, grabs and loads and installs is provided, the operation is simple and convenient, manual participation is not needed, and on one hand, the time cost and the labor cost are saved; on the other hand, the automation degree is higher, the positioning is more accurate, the misoperation risk can be avoided, and the yield and the finished product quality 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. The grid mounting clamping jaw device based on visual detection is characterized by comprising a clamping jaw body (100), a grid back plate grabbing module (200), a visual detection module (300) and a control module (400);
the grid back plate grabbing module (200) is arranged on the clamping jaw body (100);
the visual detection module (300) is connected with the control module (400) and is used for acquiring a real-time image of an installation site;
the control module (400) is further connected with the grating backboard grabbing module (200) and is used for controlling the grating backboard grabbing module (200) to move to a first target position to grab the grating backboard to be installed and then move to a second target position to install the grating backboard to be installed according to the real-time image.
2. The grid mounting jaw arrangement based on visual inspection of claim 1, wherein the control module (400) comprises:
a first image recognition unit (410) connected to the visual inspection module (300) for receiving the real-time image and determining a first target position and a second target position according to the real-time image;
the first calculation unit (420) is connected with the first image recognition unit (410) and used for determining first displacement data and second displacement data of the grating backboard grabbing module (200) according to the first target position and the second target position;
and the first signal generation unit (430) is connected with the first calculation unit (420) and the grating backboard grabbing module (200) and is used for respectively sending control signals according to the first displacement data and the second displacement data, controlling the grating backboard grabbing module (200) to move to the first target position to grab the grating backboard to be installed and then move to the second target position to install the grating backboard to be installed.
3. The grid mounting jaw arrangement based on visual inspection of claim 1, wherein the grid back plate grabbing module (200) comprises: a backplate drive assembly (210) and a backplate clamping assembly (220);
the backboard driving assembly (210) is used for driving the backboard clamping assembly (220) to reciprocate so as to move to the first target position and the second target position;
the back plate clamping assembly (220) is used for clamping the grid back plate to be installed at the first target position and releasing the grid back plate to be installed at the second target position.
4. The grid mounting jaw apparatus based on visual inspection of claim 3, wherein the back plate clamping assembly (220) comprises a front back plate clamp (221) and a back plate clamp (222).
5. The grid mounting jaw arrangement based on visual inspection of claim 4, wherein the grid back plate grabbing module (200) further comprises: a backplane separation assembly (230);
the backboard separating assembly (230) comprises a backboard separating transverse moving piece (231), a backboard separating lifting piece (232) and a stop block (233).
6. The grid mounting jaw apparatus based on visual inspection according to any one of claims 1-5, further comprising a grid lower molding strip grabbing module (500);
the control module (400) is further connected with the grating lower decorative strip grabbing module (500) and is used for controlling the grating lower decorative strip grabbing module (500) to move to a third target position to grab the grating lower decorative strip to be installed and then move to a fourth target position to install the grating lower decorative strip to be installed according to the real-time image.
7. The grid mounting jaw apparatus based on visual inspection of claim 6, wherein the control module comprises:
the second image recognition unit (440) is connected with the visual detection module (300) and used for receiving the real-time image and determining a third target position and a fourth target position according to the real-time image;
the second calculating unit (450) is connected with the second image recognition unit (440) and used for determining third displacement data and fourth displacement data of the grating lower molding strip grabbing module (500) according to the third target position and the fourth target position;
and the second signal generation unit (460) is connected with the second calculation unit (450) and the grating lower decorative strip grabbing module (500) and is used for respectively sending out control signals according to the third displacement data and the fourth displacement data, controlling the grating lower decorative strip grabbing module (500) to move to the third target position to grab the grating lower decorative strip to be installed and then move to the fourth target position to install the grating lower decorative strip to be installed.
8. The grid mounting jaw apparatus based on visual inspection of claim 7, wherein the grid lower molding grabbing module (500) comprises a lower molding driving assembly (510) and a lower molding grabbing assembly (520);
the lower molding driving assembly (510) is used for driving the lower molding grabbing assembly (520) to reciprocate so as to move to the third target position and the fourth target position;
the lower molding grabbing component (520) is used for grabbing the to-be-installed grating lower molding at the third target position and putting down the to-be-installed grating lower molding at the fourth target position.
9. The grid mounting jaw apparatus based on visual inspection of claim 8, wherein the lower molding grabber assembly (520) comprises a movable member (521) and a grabber member (522);
the grabbing piece (522) is movably arranged on the lower molding driving component (510) through the movable piece (521).
10. The grid mounting jaw arrangement based on visual inspection of claim 9, wherein the gripping member (522) is a suction cup structure.
Priority Applications (1)
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