CN115402775A - Part grabbing system based on visual identification - Google Patents
Part grabbing system based on visual identification Download PDFInfo
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- CN115402775A CN115402775A CN202211049746.2A CN202211049746A CN115402775A CN 115402775 A CN115402775 A CN 115402775A CN 202211049746 A CN202211049746 A CN 202211049746A CN 115402775 A CN115402775 A CN 115402775A
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- grabbing system
- transparent plate
- part grabbing
- industrial camera
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- 230000000007 visual effect Effects 0.000 title claims abstract description 17
- 239000011521 glass Substances 0.000 claims description 3
- 239000011347 resin Substances 0.000 claims description 3
- 229920005989 resin Polymers 0.000 claims description 3
- 125000003003 spiro group Chemical group 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 10
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 11
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The application relates to a part grabbing system based on visual identification, which relates to the technical field of automatic production and comprises a mounting frame, a third area for placing parts to be grabbed, a mechanical arm, an industrial camera and an industrial personal computer, wherein transparent plates are arranged at the top, the rear part and the left side and the right side of the mounting frame, an operation window is formed in the front of the mounting frame, and each transparent plate is enclosed to form an accommodating space; an operation table is arranged in the accommodating space, and a first area and a second area for placing parts are arranged on the operation table; the manipulator is arranged in the first area; the shooting visual angle of the industrial camera faces to the third area and the second area; the industrial personal computer is connected with manipulator and industrial camera to according to the image that industrial camera shot, control manipulator snatchs the part and puts in the second district from the third district. The problems of low efficiency, complex operation flow, low mechanization degree and unsuitability for the prior intelligent manufacturing in the related technology are solved.
Description
Technical Field
The application relates to the technical field of automatic production, in particular to a part grabbing system based on visual identification.
Background
In order to store and transport small parts, the parts are usually packaged in whole packages, and when the parts need to be mounted, the parts need to be arranged, grabbed, inspected and mounted.
The existing method is that parts are manually placed on a freight rack, then the freight rack is placed beside a production line through personnel to carry out integral assembly, and the adopted operation process has low efficiency, complex operation flow and low mechanization degree for the existing intelligent production line and is not suitable for the existing intelligent manufacturing.
Disclosure of Invention
The embodiment of the application provides a part grabbing system based on visual identification to solve the problems of low efficiency, complex operation flow, low mechanization degree and inadaptation to the existing intelligent manufacturing in the related art.
In a first aspect, a part grabbing system based on visual recognition is provided, which includes:
the top, the rear part and the left and right sides of the placing frame are provided with transparent plates, the front part of the placing frame forms an operation window, and the transparent plates surround to form a containing space; an operation table is arranged in the accommodating space, and a first area and a second area for placing parts are arranged on the operation table;
a third area for placing a part to be grasped;
a robot mounted to the first area;
an industrial camera whose shooting angle of view is directed toward the third area and the second area;
and the industrial personal computer is connected with the manipulator and the industrial camera and is used for controlling the manipulator to grab the part from the third area and place the part in the second area according to the image shot by the industrial camera.
In some embodiments, a transparent plate for opening and closing the operation window is disposed at the front of the installation frame, and the transparent plate can slide up and down along the installation frame.
In some embodiments, a clamping groove is arranged on the inner wall of the placing frame, and the end part of the transparent plate is slidably arranged in the clamping groove; still the spiro union has the locking subassembly on settling the frame, locking subassembly one end is for executing the portion of twisting, and the other end stretches into in the draw-in groove.
In some embodiments, the transparent plate is made of a glass plate or a resin material.
In some embodiments, the third zone is located on the console and beside the second zone.
In some embodiments, the parts grabbing system further comprises a plurality of parts placement boxes, and the parts placement boxes are located in the second area.
In some embodiments, the parts picking system further comprises a plurality of parts picking cassettes located in the third area.
In some embodiments, there are two industrial cameras, and the shooting angles of the two industrial cameras are respectively directed to the second region and the third region.
In some embodiments, the industrial camera is mounted on the mounting frame, the console, or a transparent panel.
In some embodiments, an annular light source is disposed on the mounting frame.
The beneficial effect that technical scheme that this application provided brought includes:
the embodiment of the application provides a part snatchs system based on visual identification, settle the frame through setting up, a third district that is used for placing the part of waiting to snatch, the manipulator, industrial computer and industrial computer, industrial computer control industrial camera shoots second district and third district, and handle the image of acquireing and acquire the specific position information of the part in second district and the third district, the industrial computer controls the manipulator again according to the position information of acquireing and snatchs the part and place in the second district from the third district, with the problem of solving among the correlation technique inefficiency, the operation flow is complicated, the mechanization degree is low, the problem of current intelligent manufacturing is not adapted.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a part grabbing system based on visual identification according to an embodiment of the present application;
fig. 2 is a top view of a placement frame according to an embodiment of the present application.
In the figure: 1. a mounting frame; 11. an operation table; 12. a card slot; 13. a transparent plate; 14. operating a window; 2. a manipulator; 3. an industrial camera; 4. a part placing box; 5. a part clamping box; 6. and a locking assembly.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making creative efforts shall fall within the protection scope of the present application.
The embodiment of the application provides a part grasping system based on visual identification, which can solve the problems that in the related art, the positioning of parts is realized through a special clamp or a placement disc, the parts are grasped through an inherent program, the positions and the placement of the parts have specific requirements, and clamp tools need to be customized and are unfavorable for generalization.
Referring to fig. 1, the embodiment of the present application provides a part grabbing system based on visual recognition, which includes a mounting frame 1, a third area for placing a part to be grabbed, a manipulator 2, an industrial camera 3 and an industrial personal computer.
Through setting up the arrangement frame, a third district that is used for placing the part of treating to snatch, the manipulator, industrial camera and industrial computer, industrial computer control industrial camera shoots second district and third district, and handle the image that acquires and acquire the specific position information of the part in second district and the third district, the industrial computer controls the manipulator again according to the position information who acquires and snatchs the part and put in the second district from the third district, with the inefficiency among the solution correlation technique, the operation flow is complicated, the mechanization degree is low, the problem of present intelligent manufacturing is not adapted.
Specifically, the industrial personal computer is provided with a camera shooting function module which is developed and set based on an NI Vision Assistant platform to control the industrial camera 3 to shoot the second area and the third area, and image processing is carried out on the obtained image through the image processing function module to obtain specific position information of parts in the second area and the third area, the industrial personal computer controls the manipulator 2 to grab the parts from the third area and place the parts in the second area according to the obtained position information through the industrial personal computer and the manipulator communication function module, the problems that in the related technology, the parts are grabbed through an inherent program, specific requirements are placed on the positions and the placement of the parts, and clamp tools need to be customized and are not beneficial to generalization are solved.
The manipulator 2 and the parts are required to maintain a clean and tidy environment in the placing frame 1, if the operation window 14 is in an open state for a long time, dust can enter the placing frame 1, as an alternative embodiment, a transparent plate 13 for opening and closing the operation window 14 is arranged at the front part of the placing frame 1, the transparent plate 13 can slide up and down along the placing frame 1, only when the parts or the inspection equipment are required to be taken out of the placing frame 1, the transparent plate 13 is opened, and in other cases, the transparent plate 13 is in a closed state.
Further, as an optional embodiment, a clamping groove 12 is formed in the inner wall of the placement frame 1, the end portion of the transparent plate 13 is slidably disposed in the clamping groove 12, a locking assembly 6 is further screwed on the placement frame 1, one end of the locking assembly 6 is a screwing portion, and the other end of the locking assembly extends into the clamping groove 12.
Specifically, when the transparent plate 13 slides upward to the top of the placement frame 1, the screwing portion of the locking member 6 is rotated to hold the transparent plate 13 against the inner wall of the card slot 12 (also the inner wall of the placement frame 1). Wherein, locking subassembly 6 can adopt the bolt, with the bolt spiro union on settling frame 1, the other end of screw rod stretches into in draw-in groove 12, rotatory screw rod makes it support transparent plate 13 and holds on the inner wall of draw-in groove 12, when needs slide transparent plate 13 downwards and close operation window 14, can rotate the screw rod in the opposite direction, lets the screw rod keep away from transparent plate 13 until transparent plate 13 can slide in draw-in groove 12.
As an alternative embodiment, the transparent plate 13 is made of a glass plate or a resin material.
As an optional embodiment, in the working process of the manipulator 2, according to the working condition of the actual production line, the third area may be outside the mounting frame 1 and may also be placed on the operation table 11, so that the manipulator 2 is convenient to operate and saves time for grabbing and placing parts, and the third area may be located on the operation table 11 and beside the second area.
As an optional embodiment, in order to make the robot 2 pick and place the parts more conveniently, the part picking system further includes a plurality of part placing boxes 4, the part placing boxes 4 are located in the second area, and similarly, the part picking system may further include a plurality of part clamping boxes 5, and the part clamping boxes 5 are located in the third area.
As an alternative embodiment, two industrial cameras 3 may be provided, and the shooting angles of the two industrial cameras 3 are respectively directed to the second area and the third area.
As an alternative embodiment, the industrial camera 3 may be mounted on the placement frame 1, the operation table 11 or the transparent plate 13. The placement position of the industrial camera 3 is flexible, and as long as it is ensured that the shooting angle thereof faces the third area and the second area, images of the third area and the second area can be acquired.
In some alternative embodiments, in order to provide a good lighting environment for the industrial camera 3, a ring-shaped light source may be provided on the mounting frame 1.
In the description of the present application, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are merely for convenience of describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present application. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
It is noted that, in the present application, relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A part grabbing system based on visual identification is characterized in that it includes:
the top, the rear part and the left and right sides of the placing frame (1) are provided with transparent plates (13), the front part of the placing frame forms an operation window (14), and each transparent plate (13) encloses to form an accommodating space; an operating table (11) is arranged in the accommodating space, and a first area and a second area for placing parts are arranged on the operating table (11);
a third area for placing a part to be grasped;
a robot (2) attached to the first zone;
an industrial camera (3) whose shooting angle of view is directed toward the third and second areas;
and the industrial personal computer is connected with the manipulator (2) and the industrial camera (3) and is used for controlling the manipulator (2) to grab the parts from the third area and place the parts in the second area according to the image shot by the industrial camera (3).
2. The vision recognition-based part catching system as claimed in claim 1, wherein a transparent plate (13) for opening and closing the operation window is provided at the front of the mounting frame (1), and the transparent plate (13) is slidable up and down along the mounting frame (1).
3. The part grabbing system based on visual identification as claimed in claim 1 wherein, a slot (12) is provided on the inner wall of the placement frame (1), and the end of the transparent plate (13) is slidably provided on the slot (12); still the spiro union has locking subassembly (6) on settling frame (1), locking subassembly (6) one end is for applying the portion of twisting, and the other end stretches into in draw-in groove (12).
4. The vision recognition-based part grabbing system as claimed in claim 1, wherein said transparent plate (13) is made of glass or resin.
5. The visual recognition-based part grabbing system of claim 1, characterized in that: the third area is positioned on the operating table (11) and beside the second area.
6. The visual-recognition-based part grabbing system of claim 1, characterized by: the part grabbing system further comprises a plurality of part placing boxes (4), and the part placing boxes (4) are located in the second area.
7. The visual-recognition-based part grabbing system of claim 1, characterized by: the part grabbing system further comprises a plurality of part grabbing boxes (5), wherein the part grabbing boxes (5) are located in the third area.
8. The visual recognition-based part grabbing system of claim 1, characterized in that: the number of the industrial cameras (3) is two, and the shooting visual angles of the two industrial cameras (3) face the second area and the third area respectively.
9. The visual recognition-based part grabbing system of claim 1, characterized in that: the industrial camera (3) is mounted on the mounting frame (1), the console (11) or the transparent plate (13).
10. The vision recognition-based part grabbing system as claimed in claim 1, wherein said placement frame (1) is provided with an annular light source.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211049746.2A CN115402775A (en) | 2022-08-30 | 2022-08-30 | Part grabbing system based on visual identification |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211049746.2A CN115402775A (en) | 2022-08-30 | 2022-08-30 | Part grabbing system based on visual identification |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115402775A true CN115402775A (en) | 2022-11-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211049746.2A Pending CN115402775A (en) | 2022-08-30 | 2022-08-30 | Part grabbing system based on visual identification |
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| Country | Link |
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| CN (1) | CN115402775A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0893337A (en) * | 1994-09-28 | 1996-04-09 | Shinohara Denki Kk | Window frame |
| KR20050030249A (en) * | 2003-09-25 | 2005-03-30 | 주식회사 시공테크 | Showcase with 4 sides glass for cultural assets |
| CN215177309U (en) * | 2021-07-29 | 2021-12-14 | 醴陵市吉利烟花制造有限公司 | Automatic glue dispensing and assembling machine for cold light fireworks |
| CN114559438A (en) * | 2022-03-25 | 2022-05-31 | 卡奥斯工业智能研究院(青岛)有限公司 | Recognition and placement device and recognition and placement method |
-
2022
- 2022-08-30 CN CN202211049746.2A patent/CN115402775A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0893337A (en) * | 1994-09-28 | 1996-04-09 | Shinohara Denki Kk | Window frame |
| KR20050030249A (en) * | 2003-09-25 | 2005-03-30 | 주식회사 시공테크 | Showcase with 4 sides glass for cultural assets |
| CN215177309U (en) * | 2021-07-29 | 2021-12-14 | 醴陵市吉利烟花制造有限公司 | Automatic glue dispensing and assembling machine for cold light fireworks |
| CN114559438A (en) * | 2022-03-25 | 2022-05-31 | 卡奥斯工业智能研究院(青岛)有限公司 | Recognition and placement device and recognition and placement method |
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