CN210084398U - Vision-guided transport system - Google Patents
Vision-guided transport system Download PDFInfo
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- CN210084398U CN210084398U CN201920622917.3U CN201920622917U CN210084398U CN 210084398 U CN210084398 U CN 210084398U CN 201920622917 U CN201920622917 U CN 201920622917U CN 210084398 U CN210084398 U CN 210084398U
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Abstract
The utility model provides a vision guide handling system, vision guide handling system includes: two manipulators, manipulator are used for carrying the work piece, and vision guide handling system still includes: the industrial camera comprises a first fixing frame, a first driving shaft, a first driving chain wheel, a first driving device, a first driven shaft, a first driven chain wheel, a first chain plate, an upright column, a first supporting rod and a first industrial camera; the upright post is vertically fixed on the ground; the first support is connected with the upright post, and the first support rod is parallel to the ground; the first industrial camera is fixed on the first supporting rod and is electrically connected with the driving device; wherein the first industrial camera is electrically connected to one of the manipulators. By adopting the structure, the structure is simple, the positioning device can be prevented from being used for the workpiece, so that the workpiece can be accurately grabbed in a positioning free state, the production cost of the product is reduced, the replacement of the positioning device can be avoided, and the working efficiency of the product is improved.
Description
Technical Field
The utility model relates to a handling system technical field particularly, relates to a vision guide handling system.
Background
Currently, a workpiece is transported to a preset position by a conveyor belt; in the related art, a sensor is used for detecting whether a workpiece reaches a preset position, and the sensor needs to be arranged on a conveyor belt in such a way, so that the installation space is occupied, and the applicability of a product is reduced; meanwhile, once the types of the workpieces conveyed by the conveyor belt are increased, the number of sensors is increased, and therefore the production cost of products is increased.
SUMMERY OF THE UTILITY MODEL
The present invention aims at least solving one of the technical problems existing in the prior art or the related art.
Therefore, the utility model provides a vision guide handling system.
In view of this, the utility model provides a vision guide handling system, vision guide handling system includes: two manipulators, manipulator are used for carrying the work piece, and vision guide handling system still includes: the industrial camera comprises a first fixing frame, a first driving shaft, a first driving chain wheel, a first driving device, a first driven shaft, a first driven chain wheel, a first chain plate, an upright column, a first supporting rod and a first industrial camera; the first driving shaft is arranged at one end of the first fixing frame; the two first driving chain wheels are respectively sleeved at two ends of the first driving shaft, and the first driving shaft and the two first driving chain wheels do not rotate relatively; the first driving device is connected with the first driving chain wheel so as to enable the first driving chain wheel to rotate; the first driven shaft is arranged at the other end of the first fixing frame; the two first driven chain wheels are sleeved at two ends of the first driven shaft, and the first driven shaft and the two first driven chain wheels do not rotate relatively; the two first chains are respectively sleeved on the outer sides of the two first driving chain wheels and the two first driven chain wheels, so that the first driving chain wheels drive the first chains to move; at least four first chain plates are simultaneously connected with two first chains, and workpieces are placed on the first chain plates; the upright post is vertically fixed on the ground; the first support is connected with the upright post, and the first support rod is parallel to the ground; the first industrial camera is fixed on the first supporting rod and is electrically connected with the driving device; wherein the first industrial camera is electrically connected to one of the manipulators.
In the technical scheme, the first driving shaft is arranged at one end of the first fixing frame, so that the stability of the first driving shaft is improved; secondly, the two first driving sprockets are respectively sleeved at two ends of the first driving shaft, and the first driving shaft and the two first driving sprockets do not rotate relatively, so that when the first driving shaft rotates, the two first driving sprockets also rotate along with the first driving shaft; thirdly, the first driving device is connected with the first driving shaft, so that the first driving device drives the first driving shaft to rotate, and the two first driving chain wheels also rotate; thirdly, the first driven shaft is arranged at the other end of the first fixing frame, so that the stability of the first driven shaft is improved; thirdly, sleeving the two first driven chain wheels at two ends of the first driven shaft, and enabling the first driven shaft and the two first driven chain wheels not to rotate relatively; thirdly, the two first chains are respectively sleeved on the outer sides of the two first driving chain wheels and the two first driven chain wheels, so that the first driving chain wheels and the first driven chain wheels support the first chains, and the first driving chain wheels drive the first chains to move; thirdly, the conveying device is used for conveying the workpieces by connecting at least four first chain plates with two first chains at the same time and placing the workpieces on the first chain plates; thirdly, the upright post is vertically fixed on the ground, so that the stability of the upright post is improved; thirdly, connecting the first supporting rod with the upright column, and enabling the first supporting rod to be parallel to the ground so as to realize the heightening of the first supporting rod; thirdly, the first industrial camera is fixed on the first supporting rod, so that the first industrial camera shoots the workpiece placed on the first chain plate, the shape of the workpiece is analyzed, and the target workpiece is identified. Because the first industrial camera is electrically connected with the first driving device and the first industrial camera is electrically connected with one of the manipulators, when the first industrial camera identifies the target workpiece, the first industrial camera controls the driving device to stop working so as to stop moving the target workpiece, and then the first industrial camera controls the manipulator to grab and carry the target workpiece. By adopting the structure, the structure is simple, the positioning device can be prevented from being used for the workpiece, so that the workpiece can be accurately grabbed in a positioning free state, the production cost of the product is reduced, the replacement of the positioning device can be avoided, and the working efficiency of the product is improved. Meanwhile, the workpiece is identified through the first industrial camera, and the workpiece can be prevented from being detected by a sensor. The sensor needs to be arranged on the fixing frame, and occupies an installation space, so that the workpiece is identified through the first industrial camera, the installation space is reduced, and the applicability of the product is improved; moreover, the first industrial camera can identify various workpieces, so that a large number of sensors are not used for detection, and the production cost of products is reduced.
Additionally, the utility model provides an among the above-mentioned technical scheme vision guide handling system can also have following additional technical features:
in the above technical solution, preferably, the visual guidance conveying system further includes: the second driving shaft is connected with the second driving chain wheel through a second connecting rod; the second driving shaft is arranged at one end of the second fixing frame; the two second driving sprockets are respectively sleeved at two ends of the second driving shaft, and the second driving shaft and the two second driving sprockets do not rotate relatively; the second driving device is connected with the second driving chain wheel so as to enable the second driving chain wheel to rotate; the second driven shaft is arranged at the other end of the second fixing frame; the two second driven chain wheels are sleeved at two ends of the second driven shaft, and the second driven shaft and the two second driven chain wheels do not rotate relatively; the two second chains are respectively sleeved on the outer sides of the two second driving chain wheels and the two second driven chain wheels, so that the second driving chain wheels drive the second chains to move; at least four second chain plates are simultaneously connected with two second chains, and the workpiece is placed on the second chain plates; the second supporting rod is connected with the upright post, is parallel to the ground and forms a preset angle with the first supporting rod; the second industrial camera is fixed on the second supporting rod and is electrically connected with the second driving device. Wherein the second industrial camera is electrically connected to another robot.
In the technical scheme, the second driving shaft is arranged at one end of the second fixing frame, so that the stability of the second driving shaft is improved; secondly, the two second driving sprockets are sleeved at two ends of the second driving shaft respectively, and the second driving shaft and the two second driving sprockets do not rotate relatively, so that when the second driving shaft rotates, the two second driving sprockets also rotate along with the second driving shaft; thirdly, the second driving device is connected with the second driving shaft, so that the second driving device drives the second driving shaft to rotate, and the two second driving sprockets also rotate; thirdly, the second driven shaft is arranged at the other end of the second fixing frame, so that the stability of the second driven shaft is improved; thirdly, sleeving two second driven chain wheels at two ends of a second driven shaft, and enabling the second driven shaft and the two second driven chain wheels not to rotate relatively; thirdly, the two second chains are respectively sleeved on the outer sides of the two second driving chain wheels and the two second driven chain wheels, so that the second driving chain wheels and the second driven chain wheels support the second chains, and the second driving chain wheels drive the second chains to move; thirdly, the conveying device is used for conveying the workpieces by simultaneously connecting at least four second chain plates with two second chains and placing the workpieces on the second chain plates; thirdly, connecting the second supporting rod with the upright column, and enabling the second supporting rod to be parallel to the ground so as to realize the heightening of the second supporting rod; thirdly, the second industrial camera is fixed on the second support rod, so that the second industrial camera shoots the workpiece placed on the second chain plate, the shape of the workpiece is analyzed, and the target workpiece is identified. Because the second industrial camera is electrically connected with the second driving device and the second industrial camera is electrically connected with one of the manipulators, when the second industrial camera identifies the target workpiece, the second industrial camera controls the driving device to stop working so as to stop moving the target workpiece, and then the second industrial camera controls the manipulator to grab and carry the target workpiece. By adopting the structure, the structure is simple, the positioning device can be prevented from being used for the workpiece, so that the workpiece can be accurately grabbed in a positioning free state, the production cost of the product is reduced, the replacement of the positioning device can be avoided, the working efficiency of the product is improved, and the multi-station workpiece conveying can be realized to improve the transmission efficiency of the workpiece.
Specifically, the first industrial camera comprises a first image photographer, a first image store, a first image comparator, and a first controller; the second industrial camera comprises a second image photographer, a second image store, a second image comparator, and a second controller; firstly, storing images of various workpieces to be captured in a first image memory and a second image memory; secondly, shooting the images of the workpiece by the first image shooting device and the second image shooting device, and comparing the shot images with the stored images by the first image comparator and the second image comparator to realize switching of the workpiece identification program; thirdly, the first controller controls the first driving device to stop running according to the workpiece identification program and controls a manipulator to grab the workpiece; meanwhile, the second controller controls the second driving device to stop running according to the workpiece identification program and controls the other manipulator to grab the workpiece.
Specifically, because the relative positions of the first industrial camera, the second industrial camera and the manipulator are fixed, the first industrial camera and the second industrial camera are used for shooting the workpiece to calculate the distance between the workpiece and the first industrial camera and the distance between the workpiece and the second industrial camera, so that the distance between the manipulator and the workpiece can be calculated, the manipulator can be controlled to move above the workpiece, and the workpiece can be grabbed.
In the above technical solution, preferably, the visual guidance conveying system further includes: a first Bluetooth transmission device and a first Bluetooth receiving device; the first Bluetooth transmission device is electrically connected with the first industrial camera; the two first Bluetooth receiving devices are electrically connected with the first Bluetooth transmission device, and one first Bluetooth receiving device is electrically connected with the first driving device; wherein, another first bluetooth receiving arrangement is connected with one of them manipulator electricity.
In the technical scheme, the first Bluetooth transmission device is electrically connected with the first industrial camera, the two first Bluetooth receiving devices are electrically connected with the first Bluetooth transmission device, one Bluetooth receiving device is electrically connected with the first driving device, the other first Bluetooth receiving device is electrically connected with the manipulator, the first industrial camera is wirelessly connected with the first driving device and the manipulator, the circuit of the product is simplified, when the industrial camera and the driving device are prevented from being in wired connection, an electric wire interferes with other parts of the product, the product is prevented from being damaged, the service life of the product is prolonged, and the use experience of the product is improved.
In the above technical solution, preferably, the visual guidance conveying system further includes: a second bluetooth transmission device and a second bluetooth receiving device; the second Bluetooth transmission device is electrically connected with the second industrial camera; the two second Bluetooth receiving devices are electrically connected with the second Bluetooth transmission device, and one second Bluetooth receiving device is electrically connected with the second driving device; and the other second Bluetooth receiving device is electrically connected with the other manipulator.
In the technical scheme, the second Bluetooth transmission device is electrically connected with the second industrial camera, the two second Bluetooth receiving devices are electrically connected with the second Bluetooth transmission device, one Bluetooth receiving device is electrically connected with the second driving device, the other second Bluetooth receiving device is electrically connected with the other manipulator, the second industrial camera is wirelessly connected with the second driving device and the other manipulator, the circuit of the product is simplified, the phenomenon that the electric wire interferes with other parts of the product when the industrial camera and the driving device are in wired connection is avoided, the product is prevented from being damaged, the service life of the product is prolonged, and the use experience of the product is improved.
In the above technical solution, preferably, the visual guidance conveying system further includes: the device comprises a frame, a cylinder fixing frame, a cylinder, a clamp unit, an electromagnet fixing frame and an electromagnet; the frame is connected with the mechanical arm; at least two cylinder fixing frames are connected with the frame; the cylinder is fixed on the cylinder fixing frame; the clamp unit is fixed on the cylinder fixing frame and connected with the output end of the cylinder so as to enable the cylinder to drive the clamp unit to be tightened or opened and closed; the electromagnet fixing frame is connected with the frame; the electromagnet is fixed on the electromagnet fixing frame, and the electromagnet is attached to the sheet stamping part.
In the technical scheme, firstly, at least two cylinder fixing frames are connected with a frame so as to improve the stability of the cylinder fixing frames; secondly, the air cylinder is fixed on the air cylinder fixing frame, so that the stability of the air cylinder is improved; thirdly, the clamping unit is fixed on the cylinder fixing frame and connected with the output end of the cylinder, so that the clamping unit is driven by the cylinder to be tightened or opened and closed, and the sheet stamping part is clamped; thirdly, the electromagnet fixing frame is connected with the frame, so that the stability of the electromagnet fixing frame is improved; and thirdly, the electromagnet is fixed on the electromagnet fixing frame, the electromagnet is attached to the sheet stamping part, and meanwhile, the power supply is electrically connected with the electromagnet to supply power to the electromagnet, so that the electromagnet is magnetic when the electromagnet is electrified. The electrified electromagnet adsorbs the sheet stamping part and lifts the sheet stamping part to a certain height so as to realize that the sheet stamping part obtains enough grabbing space; then, the clamping unit is driven by the air cylinder to clamp the thin plate stamping part, so that the contact area between the clamping unit and the thin plate stamping part is increased, the firmness of the clamping unit for grabbing the thin plate stamping part is improved, and the thin plate stamping part can be conveniently moved by the special grabbing tool for the thin plate stamping part. Adopt this kind of structure, simple structure can realize moreover that the sheet metal stamping workpiece is in and all can be snatched by the special gripping apparatus of sheet metal stamping workpiece under the arbitrary form, for having cushioned the sheet metal stamping workpiece through the cushion in order to obtain the mode of snatching the space, adopt this kind of mode, reduce the degree of difficulty of putting the sheet metal stamping workpiece, improved the efficiency of transport, promoted the use of product and experienced.
Specifically, because at least two cylinder fixing frames are connected with the frame, and each cylinder fixing frame is provided with the clamp unit and the cylinder, multi-point clamping of the sheet stamping part is realized, and the stability of clamping the sheet stamping part is improved.
In the above technical solution, preferably, the clamp unit includes: the clamping device comprises a rack, a gear, a hinged shaft and a clamping jaw; the rack is connected with the output end of the cylinder so that the cylinder drives the rack to move; the gear is meshed with the rack, so that the rack drives the gear to rotate; the hinge shaft penetrates through the gear, so that the gear drives the hinge shaft to rotate; the clamping jaw cover is established in the outside of articulated shaft to make the articulated shaft drive the clamping jaw and rotate.
In the technical scheme, firstly, the rack is connected with the output end of the cylinder, so that the cylinder drives the rack to move along the axis of the output end of the cylinder; secondly, the gear is meshed with the rack, so that when the rack moves, the rack drives the gear to rotate; thirdly, the hinged shaft penetrates through the gear, and the gear and the hinged shaft do not rotate relatively, so that the gear drives the hinged shaft to rotate; thirdly, the clamping jaw is sleeved on the outer side of the hinged shaft, and the clamping jaw and the hinged shaft are not relatively rotated, so that when the hinged shaft rotates, the hinged shaft drives the clamping jaw to rotate. By adopting the structure, the structure is simple, and the clamping or opening and closing of the clamp unit can be controlled. When the electromagnet is not attached to the sheet stamping part, the clamping jaw is controlled to be in a horizontal state, and the clamping jaw is prevented from being in contact with the sheet stamping part, so that the electromagnet is fully attached to the sheet stamping part; then, the power supply is electrified, the electromagnet lifts the sheet stamping part to a certain height, and the clamping jaw is controlled to rotate to be inserted into the bottom of the sheet stamping part, so that the clamping jaw bears the gravity of the sheet stamping part, and the stability of the clamping unit for clamping the workpiece is improved.
In the above technical solution, preferably, the visual guidance conveying system further includes: a positioning bracket and a positioning pin; the positioning bracket is connected with the frame; the positioning pin is connected with the positioning support and embedded into the positioning hole.
In the technical scheme, the positioning support is connected with the frame, the positioning pin is connected with the positioning support and embedded into the positioning hole, so that the relative position of the special gripping tool for the sheet stamping part and the sheet stamping part is ensured, the clamping unit is used for clamping the sheet stamping part at a proper position, and the carrying efficiency of the sheet stamping part is improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 shows a schematic structural view of a vision-guided handling system according to an embodiment of the invention;
fig. 2 shows a schematic structural view of a vision-guided handling system according to another embodiment of the invention;
fig. 3 shows a schematic structural view of a vision-guided handling system according to yet another embodiment of the present invention;
fig. 4 shows a schematic structural view of a gripper unit according to an embodiment of the invention;
fig. 5 is a partial enlarged view at a of fig. 4 showing a structural schematic view of a clamp unit according to an embodiment of the present invention;
wherein, the correspondence between the reference numbers and the part names in fig. 1 to 5 is:
10 robot, 12 first mount, 14 first drive, 16 first chain, 18 first link plate, 20 upright, 22 first strut, 24 first industrial camera, 26 second mount, 28 second drive, 30 second chain, 32 second link plate, 34 second strut, 36 second industrial camera, 38 frame, 40 cylinder mount, 42 cylinder, 44 clamp unit, 442 rack, 443 gear, 444 hinge shaft, 445 clamp jaw, 46 electromagnet mount, 48 electromagnet, 50 positioning bracket, 52 positioning pin.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail with reference to the accompanying drawings and detailed description. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
The vision-guided handling system according to some embodiments of the present invention is described below with reference to fig. 1 to 5.
In the embodiment of the present invention, as shown in fig. 1 and fig. 2, the utility model provides a vision guide handling system, vision guide handling system includes: two manipulators 10, manipulator 10 are used for carrying the work piece, and vision guide handling system still includes: a first fixing frame 12, a first driving shaft, a first driving chain wheel, a first driving device 14, a first driven shaft, a first driven chain wheel, a first chain 16, a first chain plate 18, a vertical column 20, a first supporting rod 22 and a first industrial camera 24; the first driving shaft is arranged at one end of the first fixing frame 12; the two first driving chain wheels are respectively sleeved at two ends of the first driving shaft, and the first driving shaft and the two first driving chain wheels do not rotate relatively; the first driving device 14 is connected with the first driving sprocket so as to rotate the first driving sprocket; the first driven shaft is arranged at the other end of the first fixed frame 12; the two first driven chain wheels are sleeved at two ends of the first driven shaft, and the first driven shaft and the two first driven chain wheels do not rotate relatively; the two first chains 16 are respectively sleeved outside the two first driving chain wheels and the two first driven chain wheels, so that the first driving chain wheels drive the first chains 16 to move; at least four first link plates 18 are simultaneously connected with two first chains 16, and the workpiece is placed on the first link plates 18; the upright column 20 is vertically fixed on the ground; the first bracket is connected with the upright post 20, and the first supporting rod 22 is parallel to the ground; the first industrial camera 24 is fixed on the first supporting rod 22, and the first industrial camera 24 is electrically connected with the driving device; wherein the first industrial camera 24 is electrically connected to one of the manipulators 10.
In this embodiment, the first driving shaft is disposed at one end of the first fixing frame 12 to improve the stability of the first driving shaft; secondly, the two first driving sprockets are respectively sleeved at two ends of the first driving shaft, and the first driving shaft and the two first driving sprockets do not rotate relatively, so that when the first driving shaft rotates, the two first driving sprockets also rotate along with the first driving shaft; thirdly, the first driving device 14 is connected with the first driving shaft, so that the first driving device 14 drives the first driving shaft to rotate, and the two first driving chain wheels also rotate; thirdly, the first driven shaft is arranged at the other end of the first fixing frame 12, so that the stability of the first driven shaft is improved; thirdly, sleeving the two first driven chain wheels at two ends of the first driven shaft, and enabling the first driven shaft and the two first driven chain wheels not to rotate relatively; thirdly, the two first chains 16 are respectively sleeved on the outer sides of the two first driving chain wheels and the two first driven chain wheels, so that the first driving chain wheels and the first driven chain wheels support the first chains 16, and the first driving chain wheels drive the first chains 16 to move; thirdly, conveying the workpiece by the conveying device is realized by simultaneously connecting at least four first chain plates 18 with two first chains 16 and placing the workpiece on the first chain plates 18; thirdly, the stability of the upright post 20 is improved by vertically fixing the upright post 20 on the ground; thirdly, the first supporting rod 22 is elevated by connecting the first supporting rod 22 with the upright post 20 and making the first supporting rod 22 parallel to the ground; again, the first industrial camera 24 is fixed on the first support rod 22 to realize that the first industrial camera 24 photographs the workpiece placed on the first link plate 18 and analyzes the form of the workpiece, thereby identifying the target workpiece. Since the first industrial camera 24 is electrically connected to the first driving device 14 and the first industrial camera 24 is electrically connected to one of the manipulators 10, when the first industrial camera 24 recognizes the target workpiece, the first industrial camera 24 controls the driving device to stop working so as to stop moving the target workpiece, and then the first industrial camera 24 controls the manipulator 10 to grasp and carry the target workpiece. By adopting the structure, the structure is simple, the positioning device can be prevented from being used for the workpiece, so that the workpiece can be accurately grabbed in a positioning free state, the production cost of the product is reduced, the replacement of the positioning device can be avoided, and the working efficiency of the product is improved. Meanwhile, the workpiece is identified by the first industrial camera 24, and the workpiece can be prevented from being detected by a sensor. Since the sensor needs to be installed on the fixing frame and occupies an installation space, the workpiece is identified by the first industrial camera 24, the installation space is reduced, and the applicability of the product is improved; moreover, the first industrial camera 24 can identify various workpieces, so that a large number of sensors are not used for detection, and the production cost of products is reduced.
In an embodiment of the present invention, preferably, as shown in fig. 1 and 2, the visual guidance handling system further includes: a second fixed frame 26, a second driving shaft, a second driving sprocket, a second driving device 28, a second driven shaft, a second driven sprocket, a second chain 30, a second chain plate 32, a second support bar 34 and a second industrial camera 36; the second driving shaft is arranged at one end of the second fixing frame 26; the two second driving sprockets are respectively sleeved at two ends of the second driving shaft, and the second driving shaft and the two second driving sprockets do not rotate relatively; a second drive 28 is connected to the second drive sprocket to rotate the second drive sprocket; the second driven shaft is arranged at the other end of the second fixing frame 26; the two second driven chain wheels are sleeved at two ends of the second driven shaft, and the second driven shaft and the two second driven chain wheels do not rotate relatively; the two second chains 30 are respectively sleeved outside the two second driving chain wheels and the two second driven chain wheels, so that the second driving chain wheels drive the second chains 30 to move; at least four second link plates 32 are simultaneously connected with two second chains 30, and the workpiece is placed on the second link plates 32; the second supporting rod 34 is connected with the upright post 20, the second supporting rod 34 is parallel to the ground, and the second supporting rod 34 and the first supporting rod 22 form a preset angle; a second industrial camera 36 is secured to the second post 34, and the second industrial camera 36 is electrically connected to the second drive device 28. Wherein the second industrial camera 36 is electrically connected to another robot 10.
In this embodiment, the stability of the second driving shaft is improved by disposing the second driving shaft at one end of the second fixing frame 26; secondly, the two second driving sprockets are sleeved at two ends of the second driving shaft respectively, and the second driving shaft and the two second driving sprockets do not rotate relatively, so that when the second driving shaft rotates, the two second driving sprockets also rotate along with the second driving shaft; thirdly, the second driving device 28 is connected with the second driving shaft, so that the second driving device 28 drives the second driving shaft to rotate, and the two second driving chain wheels also rotate; thirdly, the second driven shaft is arranged at the other end of the second fixing frame 26, so that the stability of the second driven shaft is improved; thirdly, sleeving two second driven chain wheels at two ends of a second driven shaft, and enabling the second driven shaft and the two second driven chain wheels not to rotate relatively; thirdly, the two second chains 30 are respectively sleeved on the outer sides of the two second driving chain wheels and the two second driven chain wheels, so that the second driving chain wheels and the second driven chain wheels support the second chains 30, and the second driving chain wheels drive the second chains 30 to move; thirdly, the conveying device can convey the workpieces by connecting at least four second chain plates 32 with two second chains 30 at the same time and placing the workpieces on the second chain plates 32; thirdly, the second strut 34 is elevated by connecting the second strut 34 with the upright 20 and making the second strut 34 parallel to the ground; thirdly, the second industrial camera 36 is fixed on the second support bar 34, so that the second industrial camera 36 can shoot the workpiece placed on the second chain plate 32 and analyze the shape of the workpiece, and the target workpiece can be identified. Since the second industrial camera 36 is electrically connected to the second driving device 28 and the second industrial camera 36 is electrically connected to one of the robots 10, when the second industrial camera 36 recognizes the target workpiece, the second industrial camera 36 controls the driving device to stop operating, so that the target workpiece stops moving, and then the second industrial camera 36 controls the robot 10 to grasp and convey the target workpiece. By adopting the structure, the structure is simple, the positioning device can be prevented from being used for the workpiece, so that the workpiece can be accurately grabbed in a positioning free state, the production cost of the product is reduced, the replacement of the positioning device can be avoided, the working efficiency of the product is improved, and the multi-station workpiece conveying can be realized to improve the transmission efficiency of the workpiece.
Specifically, the first industrial camera 24 includes a first image photographer, a first image store, a first image comparator, and a first controller; the second industrial camera 36 comprises a second image photographer, a second image store, and a second image comparator and a second controller; firstly, storing images of various workpieces to be captured in a first image memory and a second image memory; secondly, shooting the images of the workpiece by the first image shooting device and the second image shooting device, and comparing the shot images with the stored images by the first image comparator and the second image comparator to realize switching of the workpiece identification program; thirdly, the first controller controls the first driving device 14 to stop running according to the workpiece identification program and controls the manipulator 10 to realize the grabbing of the workpiece; meanwhile, the second controller controls the second driving device 28 to stop operating according to the workpiece recognition program, and controls the other robot 10 to grasp the workpiece.
Specifically, since the relative positions of the first industrial camera 24 and the second industrial camera 36 and the robot 10 are fixed, the distances between the robot 10 and the workpiece can be calculated by photographing the workpiece by the first industrial camera 24 and the second industrial camera 36 to calculate the distances between the workpiece and the first industrial camera 24 and the second industrial camera 36, so that the robot 10 can be controlled to move above the workpiece and grasp the workpiece.
In an embodiment of the present invention, preferably, the vision-guided handling system further includes: a first Bluetooth transmission device and a first Bluetooth receiving device; the first bluetooth transmission device is electrically connected with the first industrial camera 24; two first bluetooth receiving devices are electrically connected with the first bluetooth transmission device, and one first bluetooth receiving device is electrically connected with the first driving device 14; wherein the other first bluetooth receiving device is electrically connected with one of the manipulators 10.
In this embodiment, the first bluetooth transmission device is electrically connected to the first industrial camera 24, and the two first bluetooth receiving devices are electrically connected to the first bluetooth transmission device, one of the bluetooth receiving devices is electrically connected to the first driving device 14, and the other first bluetooth receiving device is electrically connected to the manipulator 10, so as to realize wireless connection between the first industrial camera 24 and the first driving device 14 and one manipulator 10, thereby simplifying the circuit of the product, avoiding interference between the wire and other parts of the product when the industrial camera and the driving device are in wired connection, thereby preventing the product from being damaged, prolonging the service life of the product, and further improving the use experience of the product.
In an embodiment of the present invention, preferably, the vision-guided handling system further includes: a second bluetooth transmission device and a second bluetooth receiving device; the second bluetooth transmission device is electrically connected with the second industrial camera 36; two second bluetooth receiving devices are electrically connected with the second bluetooth transmission device, and one second bluetooth receiving device is electrically connected with the second driving device 28; wherein the other second bluetooth receiving device is electrically connected with the other manipulator 10.
In this embodiment, the second bluetooth transmission device is electrically connected to the second industrial camera 36, and two second bluetooth receiving devices are electrically connected to the second bluetooth transmission device, one of the bluetooth receiving devices is electrically connected to the second driving device 28, and the other second bluetooth receiving device is electrically connected to the other manipulator 10, so as to achieve wireless connection between the second industrial camera 36 and the second driving device 28 and the other manipulator 10, thereby simplifying the circuit of the product, avoiding interference between the wire and other parts of the product when the industrial camera and the driving device are in wired connection, thereby preventing the product from being damaged, prolonging the service life of the product, and further improving the use experience of the product.
In an embodiment of the present invention, preferably, as shown in fig. 3 to 5, the visual guidance handling system further includes: the frame 38, the air cylinder 42 fixing frame 40, the air cylinder 42, the clamp unit 44, the electromagnet 48 fixing frame 46 and the electromagnet 48; the frame 38 is connected to the robot 10; at least two pneumatic cylinders 42 are attached to the frame 38 at the mount 40; the air cylinder 42 is fixed on the air cylinder 42 fixing frame 40; the clamp unit 44 is fixed on the fixing frame 40 of the air cylinder 42, and the clamp unit 44 is connected with the output end of the air cylinder 42, so that the air cylinder 42 drives the clamp unit 44 to be tightened or opened and closed; the electromagnet 48 is connected with the frame 38 through the fixing bracket 46; the electromagnet 48 is fixed on the electromagnet 48 fixing frame 46, and the electromagnet 48 is attached to the sheet stamping part.
In the technical scheme, firstly, at least two air cylinders 42 fixing frames 40 are connected with a frame 38, so that the stability of the air cylinders 42 fixing frames 40 is improved; secondly, the air cylinder 42 is fixed on the air cylinder 42 fixing frame 40, so that the stability of the air cylinder 42 is improved; thirdly, the clamping unit 44 is fixed on the fixing frame 40 of the air cylinder 42, and the clamping unit 44 is connected with the output end of the air cylinder 42, so that the air cylinder 42 drives the clamping unit 44 to be tightened or opened and closed, and the clamping of the sheet stamping part is realized; thirdly, the stability of the electromagnet 48 fixing frame 46 is improved by connecting the electromagnet 48 fixing frame 46 with the frame 38; thirdly, the electromagnet 48 is fixed on the fixing frame 46 of the electromagnet 48, the electromagnet 48 is attached to the sheet stamping part, and meanwhile, the power supply is electrically connected with the electromagnet 48 to supply power to the electromagnet 48, so that when the electromagnet 48 is electrified, the electromagnet 48 is magnetic. The sheet stamping part is adsorbed by the electrified electromagnet 48 and is lifted to a certain height, so that the sheet stamping part can obtain enough grabbing space; then, the air cylinder 42 drives the clamp unit 44 to clamp the sheet stamping part, so as to increase the contact area between the clamp unit 44 and the sheet stamping part, thereby improving the firmness of the clamp unit 44 for grabbing the sheet stamping part, and facilitating the movement of the sheet stamping part by the special grab for the sheet stamping part. Adopt this kind of structure, simple structure can realize moreover that the sheet metal stamping workpiece is in and all can be snatched by the special gripping apparatus of sheet metal stamping workpiece under the arbitrary form, for having cushioned the sheet metal stamping workpiece through the cushion in order to obtain the mode of snatching the space, adopt this kind of mode, reduce the degree of difficulty of putting the sheet metal stamping workpiece, improved the efficiency of transport, promoted the use of product and experienced.
Specifically, since at least two air cylinders 42 are connected to the frame 38, and each air cylinder 42 is provided with the clamp unit 44 and the air cylinder 42, the multi-point clamping of the sheet metal stamping part is realized, thereby improving the stability of clamping the sheet metal stamping part.
In an embodiment of the present invention, preferably, as shown in fig. 3 to 5, the clamp unit 44 includes: rack 442, gear 443, hinge shaft 444, and jaw 445; the rack 442 is connected with the output end of the air cylinder 42, so that the air cylinder 42 drives the rack 442 to move; the gear 443 is engaged with the rack 442, so that the rack 442 drives the gear 443 to rotate; articulated shaft 444 passes through gear 443 such that gear 443 causes articulated shaft 444 to rotate; the clamping jaw 445 is sleeved outside the hinge shaft 444, so that the hinge shaft 444 drives the clamping jaw 445 to rotate.
In this embodiment, first, the rack 442 is connected to the output end of the air cylinder 42, so that the air cylinder 42 drives the rack 442 to move along the axis of the output end of the air cylinder 42; secondly, the gear 443 is meshed with the rack 442, so that when the rack 442 moves, the rack 442 drives the gear 443 to rotate; again, by passing hinge shaft 444 through gear 443 and making gear 443 rotate no relative to hinge shaft 444, gear 443 rotates hinge shaft 444; thirdly, the clamping jaw 445 is sleeved outside the hinge shaft 444, and the clamping jaw 445 and the hinge shaft 444 do not rotate relatively, so that when the hinge shaft 444 rotates, the hinge shaft 444 drives the clamping jaw 445 to rotate. With this structure, the structure is simple, and the tightening or opening and closing of the clamp unit 44 can be controlled. When the electromagnet 48 is not attached to the sheet stamping part, the clamping jaw 445 is controlled to be in a horizontal state, and the clamping jaw 445 is prevented from being in contact with the sheet stamping part, so that the electromagnet 48 is fully attached to the sheet stamping part; then, the power supply is used for electrifying the electromagnet 48, the electromagnet 48 is used for lifting the sheet stamping part to a certain height, and at the moment, the clamping jaw 445 is controlled to rotate, so that the clamping jaw 445 is inserted into the bottom of the sheet stamping part, and the clamping jaw 445 bears the weight of the sheet stamping part, so that the stability of clamping the workpiece by the clamp unit 44 is improved.
In an embodiment of the present invention, preferably, as shown in fig. 3 to 5, the visual guidance handling system further includes: a positioning bracket 50 and a positioning pin 52; the positioning bracket 50 is connected to the frame 38; the positioning pin 52 is connected to the positioning bracket 50, and the positioning pin 52 is fitted into the positioning hole.
In this embodiment, the positioning bracket 50 is connected to the frame 38, the positioning pin 52 is connected to the positioning bracket 50, and the positioning pin 52 is inserted into the positioning hole to ensure the relative position of the gripper dedicated to the sheet punching part and the sheet punching part, so that the gripper unit 44 grips the sheet punching part at a proper position to improve the carrying efficiency of the sheet punching part.
In the description of the present invention, the terms "plurality" or "a plurality" refer to two or more, and unless otherwise specifically limited, the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention; the terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the description of the present invention, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In the present disclosure, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A vision-guided handling system, the vision-guided handling system comprising: two robots for handling workpieces, the robots characterized in that the vision-guided handling system further comprises:
a first fixing frame;
the first driving shaft is arranged at one end of the first fixing frame;
the two first driving sprockets are respectively sleeved at two ends of the first driving shaft, and the first driving shaft and the two first driving sprockets do not rotate relatively;
the first driving device is connected with the first driving shaft so as to drive the first driving shaft to rotate;
the first driven shaft is arranged at the other end of the first fixing frame;
the two first driven chain wheels are sleeved at two ends of the first driven shaft, and the first driven shaft and the two first driven chain wheels do not rotate relatively;
the two first chains are respectively sleeved on the outer sides of the two first driving chain wheels and the two first driven chain wheels, so that the first driving chain wheels drive the first chains to move;
at least four first chain plates are simultaneously connected with two first chains, and the workpieces are placed on the first chain plates;
the upright post is vertically fixed on the ground;
the first supporting rod is connected with the upright post and is parallel to the ground;
the first industrial camera is fixed on the first supporting rod and is electrically connected with the first driving device;
wherein the first industrial camera is electrically connected to one of the manipulators.
2. The vision-guided handling system of claim 1, further comprising:
a second fixing frame;
the second driving shaft is arranged at one end of the second fixing frame;
the two second driving sprockets are respectively sleeved at two ends of the second driving shaft, and the second driving shaft and the two second driving sprockets do not rotate relatively;
the second driving device is connected with the second driving shaft so as to drive the second driving shaft to rotate;
the second driven shaft is arranged at the other end of the second fixing frame;
the two second driven chain wheels are sleeved at two ends of the second driven shaft, and the second driven shaft and the two second driven chain wheels do not rotate relatively;
the two second chains are respectively sleeved on the outer sides of the two second driving chain wheels and the two second driven chain wheels, so that the second driving chain wheels drive the second chains to move;
at least four second chain plates are simultaneously connected with two second chains, and the workpieces are placed on the second chain plates;
the second supporting rod is connected with the upright post, is parallel to the ground and forms a preset angle with the first supporting rod;
the second industrial camera is fixed on the second supporting rod and is electrically connected with the second driving device;
wherein the second industrial camera is electrically connected to another of the manipulators.
3. The vision-guided handling system of claim 2, further comprising:
the first Bluetooth transmission device is electrically connected with the first industrial camera;
the two first Bluetooth receiving devices are electrically connected with the first Bluetooth transmission device, and one first Bluetooth receiving device is electrically connected with the first driving device;
and the other first Bluetooth receiving device is electrically connected with one manipulator.
4. The vision-guided handling system of claim 3, further comprising:
the second Bluetooth transmission device is electrically connected with the second industrial camera;
two second Bluetooth receiving devices are electrically connected with the second Bluetooth transmission device, and one second Bluetooth receiving device is electrically connected with the second driving device;
and the other second Bluetooth receiving device is electrically connected with the other manipulator.
5. The vision-guided handling system of claim 1, further comprising:
the frame is connected with the mechanical arm;
the cylinder fixing frames are connected with the frame;
the air cylinder is fixed on the air cylinder fixing frame;
the clamp unit is fixed on the cylinder fixing frame and is connected with the output end of the cylinder, so that the cylinder drives the clamp unit to be tightened or opened and closed;
the electromagnet fixing frame is connected with the frame;
the electromagnet is fixed on the electromagnet fixing frame and is attached to the sheet stamping part.
6. The vision-guided handling system of claim 5, wherein the gripper unit comprises:
the rack is connected with the output end of the air cylinder so that the air cylinder drives the rack to move;
the gear is meshed with the rack, so that the rack drives the gear to rotate;
the hinge shaft penetrates through the gear, so that the gear drives the hinge shaft to rotate;
the clamping jaw is sleeved on the outer side of the hinged shaft, so that the hinged shaft drives the clamping jaw to rotate.
7. The vision-guided handling system of claim 6, further comprising:
a positioning bracket connected with the frame;
and the positioning pin is connected with the positioning support and is embedded into the positioning hole of the workpiece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920622917.3U CN210084398U (en) | 2019-05-05 | 2019-05-05 | Vision-guided transport system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920622917.3U CN210084398U (en) | 2019-05-05 | 2019-05-05 | Vision-guided transport system |
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| CN210084398U true CN210084398U (en) | 2020-02-18 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114084619A (en) * | 2021-11-24 | 2022-02-25 | 华中科技大学鄂州工业技术研究院 | Intelligent control system and method for production line |
| CN114111903A (en) * | 2021-11-24 | 2022-03-01 | 华中科技大学鄂州工业技术研究院 | Visual identification and carrying system and method for parts of production line |
-
2019
- 2019-05-05 CN CN201920622917.3U patent/CN210084398U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114084619A (en) * | 2021-11-24 | 2022-02-25 | 华中科技大学鄂州工业技术研究院 | Intelligent control system and method for production line |
| CN114111903A (en) * | 2021-11-24 | 2022-03-01 | 华中科技大学鄂州工业技术研究院 | Visual identification and carrying system and method for parts of production line |
| CN114084619B (en) * | 2021-11-24 | 2023-06-20 | 华中科技大学鄂州工业技术研究院 | Intelligent control system and method for production line |
| CN114111903B (en) * | 2021-11-24 | 2023-10-13 | 华中科技大学鄂州工业技术研究院 | Production line part visual identification and transportation system and method |
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