CN115339838B - Automatic bar conveying equipment based on machine vision - Google Patents
Automatic bar conveying equipment based on machine vision Download PDFInfo
- Publication number
- CN115339838B CN115339838B CN202211277070.2A CN202211277070A CN115339838B CN 115339838 B CN115339838 B CN 115339838B CN 202211277070 A CN202211277070 A CN 202211277070A CN 115339838 B CN115339838 B CN 115339838B
- Authority
- CN
- China
- Prior art keywords
- conveying
- bar
- lifting
- steering
- robot
- Prior art date
- 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.)
- Active
Links
Images
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
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
-
- 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
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
- B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
-
- 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
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/26—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles
-
- 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
- B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
- B65G47/53—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices between conveyors which cross one another
- B65G47/54—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices between conveyors which cross one another at least one of which is a roller-way
-
- 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
- B65G47/92—Devices for picking-up and depositing articles or materials incorporating electrostatic or magnetic grippers
Abstract
The invention relates to the technical field of conveying equipment, and provides automatic bar conveying equipment based on machine vision, which comprises a robot; the robot gripper is used for adaptively and flexibly gripping the bar; the robot gripper is arranged on the robot; the machine vision detection mechanism is used for detecting the bar and transmitting the detection and acquisition data to the robot; a bar material feeding area; the bar stock steering conveying unit is used for conveying, arranging and steering the bar stocks; a bar material feeding area is provided with a bar material detection area, and the machine vision detection mechanism is positioned above the bar material detection area; the robot receives the detection acquisition data and controls the robot gripper to grab the bar in the bar detection area, and the robot is fed to the bar steering conveying unit to realize the automatic conveying of the bar. The conveying equipment can realize automatic feeding, material arranging and steering conveying of the bars, and finally realizes uniform direction conveying of the bars, so that the efficiency of bar conveying is improved, and the next processing procedure of the bars can be butted.
Description
Technical Field
The invention relates to the technical field of conveying equipment, in particular to automatic bar conveying equipment based on machine vision.
Background
On the production line of mill, often need between the process with the transport of material short distance, the bar short distance is carried and is generally used artifical transport or chain drive to carry in the mill, if the bar is more in quantity, artifical handling speed is slow, at this moment need use chain drive to carry, places the bar on the chain, drives the bar through sprocket and chain meshing and removes.
Traditional bar conveying equipment often realizes the bar of single direction of motion through realizing single conveying mechanism and carries, and the function is single, can't turn to the adjustment to the bar and carry for follow-up still needs artifical mode to adjust the direction of delivery of bar, if the manual work is too late to adjust, then influences the process of follow-up bar processing, thereby not only reduces the efficiency that the bar was carried, can't guarantee the quality of follow-up bar processing moreover, influences bar processing production. In addition, the problem of bar collision is also considered when the bar is steered and adjusted, and especially the prevention of the end surface collision of some bar with magnetism is one of the problems to be considered when the bar is steered and conveyed.
The application of machine vision in industrial production still has very big development space, and how to carry out abundant combination with conveying equipment in machine vision can further reach the purpose that improves production efficiency and product quality, reduces enterprise's manufacturing cost.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide automatic bar conveying equipment based on machine vision; the automatic bar conveying equipment can realize automatic feeding, material arrangement and steering conveying of bars, and finally realizes uniform direction conveying of the bars, so that the bar conveying efficiency is improved, and the next bar processing procedure can be realized.
In order to achieve the purpose, the invention is realized by the following technical scheme: the utility model provides an automatic conveying equipment of bar based on machine vision which characterized in that: the method comprises the following steps:
a robot for handling the bar stock;
the robot gripper is used for adaptively and flexibly gripping the bar; the robot gripper is arranged on the robot;
the robot vision detection mechanism is used for detecting the bar stock and transmitting detection acquisition data to the robot;
a bar feeding conveying line 11 is arranged in the bar feeding area;
the bar stock steering conveying unit is used for conveying, arranging and steering the bar stocks;
the bar feeding area is provided with a bar detection area, and the machine vision detection mechanism is positioned above the bar detection area;
during working, the robot receives the detection data and controls the robot gripper to grab the bar in the bar detection area, and the robot is fed to the bar steering conveying unit to realize automatic conveying of the bar.
In the scheme, after receiving bar detection acquisition data, the robot controls the robot gripper to grab the bar in the bar detection area, the bar is fed to the bar steering and conveying unit, the bar is conveyed, managed and steered by the bar steering and conveying unit, and finally the bar is conveyed to the next processing procedure in a unified direction, so that the conveying direction does not need to be manually adjusted, the bar conveying efficiency is improved, and the next processing procedure of the bar can be butted according to the conveying direction requirement of the next processing procedure.
The bar turning and conveying unit comprises a feeding conveying mechanism, a turning conveying mechanism, a lifting conveying mechanism and a correcting conveying mechanism which are sequentially butted; the steering conveying mechanism is arranged downwards towards the lifting conveying mechanism; the height difference is formed between the feeding conveying mechanism and the steering conveying mechanism, and the height difference is formed between the lifting conveying mechanism and the correcting conveying mechanism.
The steering conveying mechanism comprises a steering conveying rack, a conveying assembly for conveying the bars and a steering assembly for steering the bars; the conveying assembly is arranged on the steering conveying rack and is respectively butted with the feeding conveying mechanism and the lifting conveying mechanism;
the steering assembly comprises a blocking rod and a plurality of elastic blocking sheets; the blocking rod is arranged on the steering conveying rack, is positioned above the conveying assembly and is opposite to the feeding conveying mechanism; the elastic blocking pieces are arranged on the steering conveyor frame along the conveying direction of the conveying assembly and are positioned above the conveying assembly, and the elastic blocking pieces at the tail end of the conveying direction of the conveying assembly are positioned above the conveying assembly opposite to the lifting conveying mechanism.
Stop the pole and can turn to the bar from the conveying feeding, conveying component is to the bar transportation process, a plurality of elasticity blocks that the piece also plays to turn to the reason material effect to the bar, carry the bar to promoting conveying mechanism, through stopping the pole, the slope sets up the conveying component that turns to conveying mechanism and the conveying that turns to of a plurality of elasticity blocks the piece, carry to promoting conveying mechanism's bar mostly with conveying component direction of delivery horizontal position state, so that the promotion of follow-up bar is carried.
The blocking rod and the elastic blocking pieces are obliquely arranged on the steering conveying rack respectively; along the conveying direction of the conveying assembly, a plurality of elastic blocking pieces are arranged in an arrayed mode, and the length of the elastic blocking pieces arranged in the arrayed mode is gradually increased;
the elastic blocking piece at the tail end of the conveying direction of the conveying assembly crosses the conveying assembly; the elastic blocking piece at the front end along the conveying direction of the conveying assembly is an arc-shaped elastic blocking piece; the elastic blocking sheets in the middle part are arranged in parallel; wherein, the elastic barrier sheet in the middle part is as follows: the elastic blocking piece is arranged between the elastic blocking piece at the tail end of the conveying direction of the conveying assembly and the elastic blocking piece at the front end of the conveying direction of the conveying assembly.
The steering conveying mechanism is also provided with a reverse conveying assembly opposite to the conveying direction of the conveying assembly; the reverse conveying assembly comprises a reverse auxiliary conveying driving part and a reverse conveying chain; the reverse auxiliary conveying driving part is arranged on the steering conveying rack and connected with the reverse conveying chain to drive the reverse conveying chain to move; the conveying direction of the reverse conveying chain is opposite to the conveying direction of the conveying assembly. The reverse conveying chain not only can play a role in steering the bars, but also avoids the bars from being accumulated and blocked at the inlet of the lifting conveying mechanism.
The lifting conveying mechanism comprises a lifting conveying rack and a lifting conveying assembly, and the lifting conveying rack is obliquely arranged; the lifting and conveying assembly comprises a lifting and conveying driving part, a lifting and conveying transmission part and a plurality of triangular, square or polygonal lifting and conveying rollers, the lifting and conveying driving part is arranged on the lifting and conveying rack, and the lifting and conveying driving part is connected with the plurality of lifting and conveying rollers through the lifting and conveying transmission part to drive the plurality of lifting and conveying rollers to rotate;
a plurality of lifting conveying rollers are arranged on the lifting conveying rack which is obliquely arranged, and a stepped structure is formed.
The robot gripper comprises a mounting plate and a plurality of flexible gripper units; the flexible grip units are arranged on the mounting plate to form a suction part of the grip;
the flexible gripping unit comprises a connecting rod, a universal head and a gripping piece for gripping a bar; the connecting rod is movably arranged on the mounting plate and is connected with the universal head; the grabbing piece is an adsorption piece and is connected with the universal head; the connecting rod is provided with an elastic piece in a penetrating way, and the elastic piece is respectively propped against the universal head and the mounting plate;
the plurality of flexible gripping units are used as a plurality of adjustable suction points and combined to form a suction part, the suction part is a plane or curved suction surface formed by combining the plurality of adjustable suction points, and the suction part is adopted to realize self-adaptive flexible gripping of the bar.
Each flexible gripping unit is an adjustable mechanism, has flexibility and strong flexibility, is combined to form a suction part as each suction point, has the self-adaptive flexible characteristic on the suction surface of which the suction part is a plane or a curved surface, and is suitable for flexibly gripping irregular workpieces, workpieces with different heights, workpieces with radian or whole batch of workpieces. In addition, the method has a plurality of suction points which are combined to form the suction device, so that the grabbing stability can be improved, and the universality and the practicability are improved. Each flexible grip unit of a movable and rotatable structure is used as a suction point, and a curved surface formed by combination is a multi-dimensional curved surface. In practical application, the flexible gripper unit can move up and down in the axial direction and also can rotate, so that the curved surface formed by combination is a multi-dimensional curved surface.
The robot gripper also comprises a material separation device for separating the workpiece on the edge of the suction part; the material separation device is connected with the mounting plate and can be arranged around the suction part in a lifting way. In practical application, after the suction part adsorbs the work piece, accessible drive separates the flitch and descends and breaks away from to surpassing the work piece in suction part region to guarantee finally to snatch the stability and the fastness of work piece, also can effectively avoid being located the work piece of suction part border department because absorb some problems that lead to insecure.
The bar is a magnetic bar with a hollow structure, and the bar with the hollow structure is provided with a cavity communicated with the outside; the robot gripper grips the end face of the bar;
the bar stock steering and conveying unit further comprises a demagnetizer.
For the bar with the hollow structure, the adsorbable area of the end face of the bar is small, so when the whole batch of bar with the hollow structure is adsorbed, the adjustable adsorption point combination mode is very suitable, for example, the flexible gripper unit can adsorb non-hollow positions of two adjacent bars, the flexible gripper unit can adjust the adsorption of non-end faces of the bars, and the like. In addition, the height and the angle which can be absorbed by each flexible gripper unit are different, so that the absorption part forms a curved absorption surface, the self-adaptability of the grabbing can be improved, and the grabbing stability can be greatly improved.
The machine vision detection mechanism comprises a frame body, a sliding device, a collecting device and a light shield for shielding natural light; the light shield is arranged on the frame body in a lapping way; the sliding device is movably connected with the frame body; the acquisition device is arranged on the sliding device and transmits the detection acquisition data to the robot. The position of the collecting device can be adjusted through the frame body, and in addition, the light shield shields light rays which interfere with the collecting device in natural light, so that the grabbing accuracy is further improved.
The working principle of the automatic bar conveying equipment is as follows:
1. the visual forming principle of the acquisition device is binocular imaging. The collecting device consists of infrared light source equipment and a visual receiver, wherein the infrared light source equipment emits red light, the red light irradiates the bar stock and is reflected, and then the red light is detected by the visual receiver. If part of red light in the natural light is received by the visual receiver, the red light irradiated on the bar stock is distorted, and redundant noise appears in the visual sense after the distortion, so that data deviation is caused.
2. The flexible gripper unit can elastically and telescopically absorb a workpiece through the spring, and the adsorption piece can adsorb according to the surface shape of the bar through the universal head, so that the gripper unit has flexibility and strong flexibility, is suitable for gripping bars with different heights and surfaces with radians, and improves the universality and the practicability. The invention adopts the flexible gripper unit with flexibility and strong flexibility as each suction point combination to form the suction surface with the suction part being a plane, a curved surface or a multidimensional curved surface, has the self-adaptive flexible characteristic, and is suitable for flexibly gripping irregular workpieces (bar materials), workpieces (bar materials) with different heights, workpieces (bar materials) with radian indication or whole batch of workpieces (bar materials). In addition, the method has a plurality of suction points which are combined to form the suction device, so that the grabbing stability can be improved, and the universality and the practicability are improved. In practical application, the flexible gripper unit can move up and down in the axial direction and can also rotate, so that the curved surface formed by combination is a multi-dimensional curved surface.
After the suction part adsorbs the bar, accessible drive partition plate descends and breaks away from the bar that surpasss the suction part region to guarantee finally to snatch the stability and the fastness of bar, also can effectively avoid being located the bar of suction part border department because absorb partly insecure problem that leads to.
3. For the bar with the hollow structure, the adsorbable area of the end face of the bar is small, so when the whole batch of bar with the hollow structure is adsorbed, the adjustable adsorption point combination mode is very suitable, for example, the flexible gripper unit can adsorb non-hollow positions of two adjacent bars, the flexible gripper unit can adjust the adsorption of non-end faces of the bars, and the like. In addition, the height and the angle which can be absorbed by each flexible gripper unit are different, so that the absorption part forms a curved absorption surface, the self-adaptability of the grabbing can be improved, and the grabbing stability can be greatly improved.
4. The bar stock of feeding conveying mechanism drops into and turns to conveying mechanism by self weight, turns to conveying mechanism's conveying subassembly top slope setting and can block the bar stock with the relative pole that blocks of feeding conveying mechanism entry. In bar conveying process, the length that the elasticity that sets up was blockked along conveying assembly direction of delivery arranged is gradually increased, and elasticity blocks the slope setting of piece moreover, can realize turning to the effect of reason material in grades to the bar, realizes turning to for the first time of bar and rectifies a deviation. And the turning conveying mechanism is arranged downwards towards the lifting conveying mechanism, so that the bars can quickly enter the lifting conveying mechanism after turning in stages and sorting. In addition, have elastic elasticity and block the piece slope setting, to the bar that carries along direction of delivery, can effectively prevent the elasticity and block the collision of piece and bar both ends terminal surface to can reach the effect of protection bar terminal surface. Meanwhile, a reverse conveying chain opposite to the conveying direction of the conveying assembly is additionally arranged, so that the bar stock is further steered, and the bar stock is prevented from being accumulated and blocked at an inlet of the lifting conveying mechanism.
5. When the bar got into and promotes conveying mechanism, the cascaded structure that promotes the conveying roller and form was filtered and is promoted the conveying to the bar of placing perpendicularly with promotion conveying roller direction of delivery, and the bar screening of placing with promotion conveying roller direction of delivery level drops to turning to conveying mechanism, turns to the rectification for the first time again. When the bar falls into the correction conveying mechanism from the highest position of the lifting conveying mechanism, the blocking part of the correction conveying mechanism can block the bar, so that the bar is positioned on the correction conveying chain of the correction conveying mechanism. The correcting and conveying mechanism carries out steering conveying on the bars falling from the lifting and conveying mechanism, and secondary steering and deviation correction of the bars are achieved. And finally, in the process that the bars are finally conveyed to the next machining procedure in the same direction, demagnetizing the bars conveyed through the demagnetizer by setting the demagnetizer, caching the bars, and entering a centerless grinder for cylindrical grinding.
For the bar steering and conveying unit, a steering and conveying mechanism is adopted to perform grading material arranging and steering on the bar materials conveyed and fed and convey the bar materials to a lifting and conveying mechanism, so that the first steering and deviation rectifying of the bar materials is realized; the steering conveying mechanism is arranged downwards towards the lifting conveying mechanism; screening and lifting conveying the bar materials by adopting a lifting conveying mechanism with a stepped structure; the lifted bars are corrected, arranged and turned to be conveyed, the secondary turning and deviation correction of the bars are achieved, and the bars are conveyed to the next machining procedure in the same direction finally.
Compared with the prior art, the invention has the following advantages and beneficial effects: the invention relates to automatic bar conveying equipment based on machine vision; the automatic bar conveying equipment can realize automatic feeding, material arrangement and steering conveying of bars, and finally realizes uniform direction conveying of the bars, so that the bar conveying efficiency is improved, and the next bar processing procedure can be realized.
Drawings
FIG. 1 is a schematic diagram of the automatic bar stock conveying equipment based on machine vision;
FIG. 2 is a schematic view of the bar steering transfer unit of the present invention;
FIG. 3 is a first schematic view of the turn conveyor, lift conveyor and feed conveyor of the present invention;
FIG. 4 is a second schematic view of the turn conveyor, lift conveyor and feed conveyor of the present invention;
FIG. 5 is a first schematic view of the lift conveyor and the correction conveyor of the present invention;
FIG. 6 is an enlarged view at A in FIG. 5;
FIG. 7 is a second schematic view of the lift conveyor and the correction conveyor of the present invention;
FIG. 8 is a schematic view of a machine vision inspection mechanism of the present invention;
FIG. 9 is a first schematic view of a robot gripper of the present invention;
FIG. 10 is a second schematic view of a robot gripper of the present invention;
FIG. 11 is a schematic representation of a bar of the present invention;
wherein, 1 is a feeding conveying mechanism, 2 is a steering conveying mechanism, 2.1 is a steering conveying frame, 2.2 is a blocking rod, 2.3 is an elastic blocking piece, 2.4 is a conveying driving part, 2.5 is a conveying plate, 2.6 is a reverse conveying driving part, 2.7 is a reverse conveying chain, 3 is a lifting conveying mechanism, 3.1 is a lifting conveying frame, 3.2 is a lifting conveying driving part, 3.3 is a lifting conveying roller, 3.4 is a lifting conveying transmission part, 4 is a correcting conveying mechanism, 4.1 is a correcting conveying frame, 4.2 is a blocking part, 4.3 is a correcting conveying driving part, 4.4 is a correcting conveying chain, 5 is a demagnetizer, 6 is a bar, 6.1 is a cavity, 6.2 is an end face, 7 is a robot gripper, 7.1 is a mounting plate, 7.2 is a flexible gripper unit, 7.3 is a connecting rod, 7.4 is a universal head, 7.5 is a suction cup, 7.6 is a spring, 7.8.7.1 is a separating conveyor belt, 7.1 is a visual separating conveyor belt, 7.1 is a slide rail, 7.8.9.9.8 is a visual conveyor belt, 7.2 is a grinding machine is a slide rail, 7.3.3.3.3.3.3.3.3.3 is a slide block, 7 is a slide block, and a detection device, a slide block is a detection device, a slide block detection device is a slide block.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Examples
As shown in fig. 1 to 11, the automatic bar stock conveying equipment based on machine vision of the invention comprises:
a robot 8 for handling the bar;
the robot gripper 7 is used for adaptively and flexibly gripping the bar material, and the robot gripper 7 is arranged on a robot 8;
a machine vision detection mechanism 9 for detecting the bar and transmitting the detection data to the robot 8;
the bar feeding conveying line 10 is a bar feeding area, and the bar feeding conveying line 10 is a bar feeding area;
the two bar turning conveying units are used for conveying, arranging and turning bars;
wherein, the bar feeding area is provided with a bar detection area, and the machine vision detection mechanism 9 is positioned above the bar detection area;
during operation, the robot 8 receives the detection data and controls the robot gripper 7 to grab the bar 6 in the bar detection area, and the bar is fed to the bar steering conveying unit, so that the automatic conveying of the bar 6 is realized.
The bar turning and conveying unit comprises a feeding conveying mechanism 1, a turning conveying mechanism 2, a lifting conveying mechanism 3 and a correcting conveying mechanism 4 which are sequentially butted, wherein the turning conveying mechanism 2 is arranged downwards towards the lifting conveying mechanism 3, a height difference is formed between the feeding conveying mechanism 1 and the turning conveying mechanism 2, and a height difference is formed between the lifting conveying mechanism 3 and the correcting conveying mechanism 4.
The steering conveying mechanism 2 comprises a steering conveying rack 2.1, a conveying assembly for conveying the bar 6 and a steering assembly for steering the bar 6, wherein the conveying assembly is arranged on the steering conveying rack 2.1 and is respectively butted with the feeding conveying mechanism 1 and the lifting conveying mechanism 3.
Specifically, the steering assembly comprises a blocking rod 2.2 and a plurality of elastic blocking pieces 2.3, the blocking rod 2.2 is obliquely arranged on the steering conveyor frame 2.1, and the blocking rod 2.2 is positioned above the conveyor assembly and is opposite to the feeding conveyor mechanism 1; the elastic blocking pieces 2.3 are arranged on the steering conveyor frame 2.1 along the conveying direction of the conveying assembly and are positioned above the conveying assembly, and the elastic blocking pieces 2.3 at the tail end of the conveying direction of the conveying assembly are positioned above the conveying assembly opposite to the lifting conveying mechanism 3.
The conveying assembly comprises a conveying driving component 2.4, a conveying transmission component (not shown) and a plurality of conveying plates 2.5, wherein the conveying driving component 2.4 is arranged on a steering conveying rack 2.1, and the conveying driving component 2.4 is connected with the plurality of conveying plates 2.5 through the conveying transmission component to drive the plurality of conveying plates 2.5 to move.
A plurality of elastic blocking pieces 2.3 are obliquely arranged on the steering conveyor frame 2.1 respectively. Along the conveying direction of the conveying plate 2.5, a plurality of elastic blocking pieces 2.3 are arranged, and the length of the arranged elastic blocking pieces 2.3 is gradually increased. The elastic blocking piece 2.3 at the end of the conveying direction of the conveying plate 2.5 crosses the conveying plate 2.5. The elastic blocking piece 2.3 at the tail end can be used as a final steering component, the bar stock 6 which is conveyed to the lifting conveying mechanism 3 through the front elastic blocking piece 2.3 without steering can be finally steered and conveyed to the lifting conveying mechanism 3 through the elastic blocking piece 2.3 at the tail end. Meanwhile, the inclination angle of the elastic blocking piece 2.3 in the conveying direction end of the conveying plate 2.5 with respect to the conveying direction of the conveying plate 2.5 is 100 °. And the elasticity along conveying board 2.5 direction of transportation front end blocks piece 2.3 and blocks the piece for arc form elasticity, and the elasticity in middle part blocks piece 2.3 and conveying board 2.5 direction of transportation's inclination is 120 °, and wherein, the elasticity in middle part blocks piece 2.3 and means: the elastic blocking piece 2.3 is arranged between the elastic blocking piece 2.3 at the tail end of the conveying direction of the conveying plate 2.5 and the elastic blocking piece 2.3 at the front end of the conveying direction of the conveying plate 2.5.
In order to improve the efficiency of steering conveying of the bar stock 6, the steering conveying frame 2.1 is arranged downwards towards the lifting conveying mechanism 3, and a height difference of 10-20 mm is formed between the feeding conveying mechanism 1 and the steering conveying frame 2.1, so that the bar stock 6 can smoothly enter the conveying plate 2.5 by means of the self weight or the vertical shape is changed into the horizontal shape.
The conveying assembly further comprises a reverse conveying assembly, the reverse conveying assembly comprises a reverse conveying driving part 2.6 and a reverse conveying chain 2.7, the reverse conveying driving part 2.6 is arranged on the steering conveying rack 2.1 and connected with the reverse conveying chain 2.7, the reverse conveying chain 2.7 is driven to move, and the conveying direction of the reverse conveying chain 2.7 is opposite to the conveying direction of the conveying plate 2.5. The reverse conveying chain 2.7 not only can play a role in steering the bar stock 6, but also can prevent the bar stock 6 from being accumulated and blocked between the lifting conveying mechanism 3 and the conveying plate 2.5.
The lifting conveying mechanism 3 comprises a lifting conveying frame 3.1 and a lifting conveying assembly, wherein the lifting conveying frame 3.1 is obliquely arranged. Promote conveying assembly including promoting to carry drive unit 3.2, promote to carry drive unit 3.4 and the square promotion conveying roller 3.3 of a plurality of, promote to carry drive unit 3.2 and set up on promoting conveyer frame 3.1, promote to carry drive unit 3.2 and promote the conveying roller 3.3 through promoting to carry drive unit 3.4 and a plurality of to be connected, realize driving a plurality of and promote the conveying roller 3.3 and rotate. The lifting and conveying driving component 3.2 is connected with a plurality of lifting and conveying rollers 3.3 through a lifting and conveying transmission component 3.4, which is a common mechanical connection mode.
A plurality of promotes conveying roller 3.3 and arranges the setting on the promotion conveying frame 3.1 that the slope set up, and form cascaded structure, a plurality of promotes conveying roller 3.3 and forms cascaded structure, and adopt square promotion conveying roller 3.3, can make and promote the perpendicular bar 6 of placing of conveying direction of conveying roller 3.3 to promote the transport, and can not promote the transport with the bar 6 that promotes conveying roller 3.3 conveying direction level and place then can the landing, so can make follow-up correction conveyor assembly turn to and correct for unified direction of delivery to the perpendicular bar 6 of placing of conveying direction with promotion conveying roller 3.3 conveying direction. Thus, the design may serve to pre-treat bars 6 that are not of uniform direction of conveyance.
The correcting and conveying mechanism 4 comprises a correcting and conveying rack 4.1 and a correcting and conveying assembly, wherein the correcting and conveying rack 4.1 is provided with a blocking part 4.2 for blocking the bar stock 6. The correcting conveying assembly comprises a correcting conveying driving part 4.3 and a correcting conveying chain 4.4, wherein the correcting conveying driving part 4.3 is arranged on the correcting conveying rack 4.1 and is connected with the correcting conveying chain 4.4, the driving correcting conveying chain 4.4 is driven to move, and the correcting conveying chain 4.4 is located between blocking parts 4.2 on two sides of the correcting conveying rack 4.1. The height difference between the highest part of the lifting conveying assembly and the correcting conveying assembly is 10-20 mm. The correcting conveyor chain 4.4 not only conveys the rod 6, but also corrects the direction. When waiting that bar 6 falls into from the highest point that promotes conveying assembly and corrects conveying assembly, 4.2 stop parts can play the effect of blockking to bar 6 for bar 6 is located corrects conveying assembly, and the design of difference in height can make bar 6 rely on self weight to get into smoothly and correct conveying assembly, perhaps redirecting.
The bar 6 of this embodiment is the car round pin axle, is the magnetic bar of hollow structure promptly, should turn to conveying equipment of rectifying still includes demagnetizer 5, and this demagnetizer 5 sets up on correcting conveying component. According to the invention, the bar stock 6 which is corrected by the steering correction of the correction conveying assembly is horizontally arranged with the conveying direction of the correction conveying chain 4.4, and the bar stock 6 can enter the next processing procedure through the correction conveying chain 4.4 after being demagnetized by the demagnetizer 5, for example, the bar stock 6 enters the grinding machine 11 for cylindrical grinding of the bar stock 6.
The robot gripper 7 comprises a mounting plate 7.1 and a plurality of flexible gripper units 7.2, wherein the flexible gripper units 7.2 are arranged in an array and movably arranged on the mounting plate 7.1 to form a suction part of the gripper. Specifically, each flexible gripper unit 7.2 comprises a connecting rod 7.3, a universal head 7.4 and an electromagnetic chuck 7.5 for gripping the bar stock 6, the connecting rod 7.3 is movably arranged on the mounting plate 7.1 and is connected with the universal head 7.4, the electromagnetic chuck 7.5 is connected with the universal head 7.4, a spring 7.6 penetrates through the connecting rod 7.3, and the spring 7.6 abuts against the universal head 7.4 and the mounting plate 7.1 respectively.
The connecting rod 7.3 of the robot gripper 7 is a connecting rod with a linear bearing, the linear bearing is arranged on the mounting plate 7.1, and the connecting rod 7.3 is movably arranged on the mounting plate 7.1 through the linear bearing. The connecting rod 7.3 can be moved on the mounting plate 7.1, so that the electromagnetic chuck 7.5 connected with the universal head 7.4 can move according to the height of the surface of the bar 6, and the spring 7.6 is used as a buffer, thereby further improving the flexibility of the gripper unit. The connecting rod 7.3 is provided with a linear bearing, and the movable installation of the connecting rod 7.3 can be simply realized.
The robot gripper 7 further comprises a material separation device for separating the bar 6 at the edge of the suction part, and the material separation device is connected with the mounting plate 7.1 and arranged around the suction part in a lifting manner. The material separation device comprises a material separation frame 7.7, a material separation plate 7.8 and a material separation driving part 7.9 used for driving the material separation plate 7.8 to lift, wherein the material separation frame 7.7 is arranged on a mounting plate 7.1, and the material separation driving part 7.9 is arranged on the material separation frame 7.7 and is connected with the material separation plate 7.8, so that the material separation plate 7.8 is driven to lift.
The material separating device further comprises a guide assembly, wherein the guide assembly comprises a slide rail 7.10 and a slide block 7.11, the slide rail 7.10 is arranged on the material separating plate 7.8, and the slide block 7.11 is fixed on the material separating frame 7.7 and is in sliding connection with the slide rail 7.10. In the lifting process of the material separating plate 7.8, the material separating plate 7.8 can ensure the lifting verticality through the sliding connection of the sliding rail 7.10 and the sliding block 7.11, and the effectiveness of separating the bar 6 which exceeds the area of the suction part at each time is ensured.
The robot gripper 7 further comprises a connecting assembly for connecting with the robot 8, the connecting assembly comprises a connecting plate 7.12 and a robot connecting portion 7.13 for connecting with the robot 8, the connecting plate 7.12 is connected with the mounting plate 7.1, and the robot connecting portion 7.13 is arranged on the connecting plate 7.12.
The bar 6 with the hollow structure is provided with a cavity 6.1 communicated with the outside, and the end face 6.2 of the bar 6 is sucked by the suction part. For the bar 6 with the hollow structure, the adsorbable area of the end surface 6.2 of the bar 6 is small, so when the whole batch of bar 6 with the hollow structure is adsorbed, the adjustable adsorption point combination mode is very suitable, for example, the flexible gripper unit can adsorb non-hollow positions of two adjacent bars 6, and the flexible gripper unit can adsorb non-end surfaces of the bar 6 in an adjustable mode. In addition, the height and the angle which can be absorbed by each flexible gripper unit are different, so that the absorption part forms a curved absorption surface, the self-adaptability of the grabbing can be improved, and the grabbing stability can be greatly improved.
The machine vision detection mechanism 9 comprises a frame body 9.1, a sliding device, a collection device 9.3 and a light shield (not shown) for shielding natural light, wherein the light shield is arranged on the frame body 9.1 in an overlapping mode, the sliding device comprises a support 9.2 and a sliding rail 9.4, the sliding rail 9.4 is arranged on the frame body 9.1, the support 9.2 is movably connected with the sliding rail 9.4, and the collection device 9.3 is arranged on the support 9.2 and transmits detection collection data to a robot 8. The position of the collecting device 9.3 can be adjusted on the frame body 9.1 through the support 9.2 and the sliding rail 9.4, and in addition, the light shield shields light rays which interfere with the collecting device 9.3 in natural light, so that the grabbing accuracy is further improved.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such modifications are intended to be included in the scope of the present invention.
Claims (9)
1. The utility model provides an automatic conveying equipment of bar based on machine vision which characterized in that: the method comprises the following steps:
a robot for handling the bar stock;
the robot gripper is used for adaptively and flexibly gripping the bar; the robot gripper is arranged on the robot;
the machine vision detection mechanism is used for detecting the bar and transmitting the detection and acquisition data to the robot;
a bar material feeding area;
the bar stock steering conveying unit is used for conveying, arranging and steering the bar stocks;
the bar feeding area is provided with a bar detection area, and the machine vision detection mechanism is positioned above the bar detection area;
when the automatic bar conveying robot works, the robot receives detection and acquisition data and controls the robot gripper to grab a bar in a bar detection area, and the robot gripper feeds the bar to the bar steering conveying unit to realize the automatic conveying of the bar;
the robot gripper comprises a mounting plate and a plurality of flexible gripper units; the flexible grip units are arranged on the mounting plate to form a suction part of the grip;
the flexible gripping unit comprises a connecting rod, a universal head and a gripping piece for gripping a bar; the connecting rod is movably arranged on the mounting plate and connected with the universal head; the grabbing piece is an adsorption piece and is connected with the universal head; the connecting rod is provided with an elastic piece in a penetrating way, and the elastic piece is respectively propped against the universal head and the mounting plate;
the plurality of flexible grip units are used as a plurality of adjustable suction points and combined to form a suction part, the suction part is a plane or curved suction surface formed by combining the plurality of adjustable suction points, and the suction part is adopted to realize self-adaptive flexible gripping of the bar.
2. The automatic bar stock conveying equipment based on the machine vision as claimed in claim 1, characterized in that: the bar turning and conveying unit comprises a feeding conveying mechanism, a turning conveying mechanism, a lifting conveying mechanism and a correcting conveying mechanism which are sequentially butted; the steering conveying mechanism is arranged downwards towards the lifting conveying mechanism; the height difference is formed between the feeding conveying mechanism and the steering conveying mechanism, and the height difference is formed between the lifting conveying mechanism and the correcting conveying mechanism.
3. The automatic bar stock conveying equipment based on the machine vision as claimed in claim 2, characterized in that: the steering conveying mechanism comprises a steering conveying rack, a conveying assembly for conveying the bars and a steering assembly for steering the bars; the conveying assembly is arranged on the steering conveying rack and is respectively butted with the feeding conveying mechanism and the lifting conveying mechanism;
the steering assembly comprises a blocking rod and a plurality of elastic blocking sheets; the blocking rod is arranged on the steering conveying rack, is positioned above the conveying assembly and is opposite to the feeding conveying mechanism; the elastic blocking pieces are arranged on the steering conveyor frame along the conveying direction of the conveying assembly and are positioned above the conveying assembly, and the elastic blocking pieces at the tail end of the conveying direction of the conveying assembly are positioned above the conveying assembly opposite to the lifting conveying mechanism.
4. The automatic bar stock conveying equipment based on the machine vision as claimed in claim 3, characterized in that: the blocking rod and the elastic blocking pieces are obliquely arranged on the steering conveying rack respectively; along the conveying direction of the conveying assembly, a plurality of elastic blocking pieces are arranged in an arrayed mode, and the length of the elastic blocking pieces arranged in the arrayed mode is gradually increased;
the elastic blocking piece at the tail end of the conveying direction of the conveying assembly crosses the conveying assembly; the elastic blocking piece at the front end along the conveying direction of the conveying assembly is an arc-shaped elastic blocking piece; the elastic blocking sheets in the middle part are arranged in parallel; wherein, the elasticity in middle part blocks the piece and indicates: the elastic blocking piece is arranged between the elastic blocking piece at the tail end of the conveying direction of the conveying assembly and the elastic blocking piece at the front end of the conveying direction of the conveying assembly.
5. The automatic bar stock conveying equipment based on the machine vision as claimed in claim 3, characterized in that: the steering conveying mechanism is also provided with a reverse conveying assembly opposite to the conveying direction of the conveying assembly; the reverse conveying assembly comprises a reverse auxiliary conveying driving part and a reverse conveying chain; the reverse auxiliary conveying driving part is arranged on the steering conveying rack and connected with the reverse conveying chain to drive the reverse conveying chain to move; the conveying direction of the reverse conveying chain is opposite to the conveying direction of the conveying assembly.
6. The automatic bar stock conveying equipment based on the machine vision as claimed in claim 2, characterized in that: the lifting conveying mechanism comprises a lifting conveying rack and a lifting conveying assembly, and the lifting conveying rack is obliquely arranged; the lifting and conveying assembly comprises a lifting and conveying driving part, a lifting and conveying transmission part and a plurality of triangular, square or polygonal lifting and conveying rollers, the lifting and conveying driving part is arranged on the lifting and conveying rack, and the lifting and conveying driving part is connected with the plurality of lifting and conveying rollers through the lifting and conveying transmission part to drive the plurality of lifting and conveying rollers to rotate;
a plurality of lifting conveying rollers are arranged on the lifting conveying rack which is obliquely arranged, and a stepped structure is formed.
7. The automatic bar stock conveying equipment based on the machine vision as claimed in claim 1, characterized in that: the robot gripper also comprises a material separation device for separating the workpiece at the edge of the suction part; the material separation device is connected with the mounting plate and can be arranged around the suction part in a lifting way.
8. The automatic bar stock conveying equipment based on the machine vision as claimed in claim 1, characterized in that: the bar is a magnetic bar with a hollow structure, and the bar with the hollow structure is provided with a cavity communicated with the outside; the robot gripper grips the end face of the bar;
the bar turning and conveying unit further comprises a demagnetizer.
9. The automatic bar stock conveying equipment based on the machine vision as claimed in claim 1, characterized in that: the machine vision detection mechanism comprises a frame body, a sliding device, a collecting device and a light shield for shielding natural light; the light shield is erected on the frame body; the sliding device is movably connected with the frame body; the acquisition device is arranged on the sliding device and transmits the detection acquisition data to the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211277070.2A CN115339838B (en) | 2022-10-19 | 2022-10-19 | Automatic bar conveying equipment based on machine vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211277070.2A CN115339838B (en) | 2022-10-19 | 2022-10-19 | Automatic bar conveying equipment based on machine vision |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115339838A CN115339838A (en) | 2022-11-15 |
| CN115339838B true CN115339838B (en) | 2023-03-24 |
Family
ID=83957255
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211277070.2A Active CN115339838B (en) | 2022-10-19 | 2022-10-19 | Automatic bar conveying equipment based on machine vision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115339838B (en) |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4756055B2 (en) * | 2008-03-17 | 2011-08-24 | 本田技研工業株式会社 | Work alignment system and work movement method |
| CN202017125U (en) * | 2011-04-15 | 2011-10-26 | 深圳市赢家服饰有限公司 | Washing shrunk finish device |
| DE102015111468A1 (en) * | 2015-07-15 | 2017-01-19 | Gebr. Heller Maschinenfabrik Gmbh | Processing machine with new workpiece loading device |
| JP6219901B2 (en) * | 2015-10-28 | 2017-10-25 | ファナック株式会社 | Temporary placement device with adjustable workpiece orientation |
| CN208199694U (en) * | 2018-05-16 | 2018-12-07 | 常州轻工职业技术学院 | Bar automatic collecting device |
| CN208841003U (en) * | 2018-09-21 | 2019-05-10 | 伊瓦工业技术(天津)有限公司 | A kind of intelligence clamping bar mechanism |
| CN109732389A (en) * | 2019-02-19 | 2019-05-10 | 李文福 | Bar depth drill automatic charging & discharging machine |
| CN111890109B (en) * | 2020-07-14 | 2022-01-11 | 海南联新科技有限公司 | Intelligent feeding equipment and method for irregular bar based on machine vision |
| CN112193810B (en) * | 2020-12-09 | 2021-03-23 | 爱汽科技（佛山）有限公司 | Automatic bar conveying device and gear production line using same |
| CN112720027A (en) * | 2020-12-24 | 2021-04-30 | 马鞍山一众机电有限公司 | Automatic bar cutting processing equipment and using method |
| CN217172266U (en) * | 2022-01-18 | 2022-08-12 | 常熟市龙特耐磨球有限公司 | Automatic feeding device for round bars of stepping furnace |
-
2022
- 2022-10-19 CN CN202211277070.2A patent/CN115339838B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN115339838A (en) | 2022-11-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108249119B (en) | Copper bar automation plane warehouse and copper bar integrated production line | |
| CN107737980B (en) | Automatic chamfering equipment for workpiece and control method | |
| CA2198528C (en) | Rotatable shuttle transfer unit | |
| CN104759935B (en) | Multi-station sheet conveying device | |
| CN205147802U (en) | Carousel formula lens car limit beveler | |
| CN105196057A (en) | Rotating disc type lens edging and chamfering machine | |
| CN113172505A (en) | High-precision glass four-side grinding system | |
| CN206999332U (en) | A kind of manipulator fast positioning hole structure | |
| CN115339838B (en) | Automatic bar conveying equipment based on machine vision | |
| CN107127895A (en) | A kind of manipulator quickly positions hole structure | |
| CN112249636A (en) | Uninterrupted automatic sanding production line | |
| CN116441179A (en) | Compatible silicon chip sorting equipment | |
| CN112109999B (en) | Book posture adjusting system and method | |
| CN112676711A (en) | Laser etching equipment | |
| CN210126926U (en) | Stacker crane for laser cutting equipment | |
| CN111468420A (en) | Sorting equipment for checking wheels and swing error detection system | |
| CN216758617U (en) | Polaroid cutting production line | |
| CN215092624U (en) | High-precision glass four-side grinding device | |
| CN212821236U (en) | Take copper layer thickness to detect function and put trigger | |
| CN210418352U (en) | Multi-station oven conveying device | |
| CN213443502U (en) | Book posture adjusting system | |
| CN107618862A (en) | A kind of lift rod member separating mechanism | |
| CN211489371U (en) | Automatic sucker manipulator device | |
| CN210165927U (en) | Online intelligent detection machine | |
| CN110634998A (en) | Battery piece material loading braid equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |