CN216030899U - 3D vision automatic identification snatchs feeding system - Google Patents
3D vision automatic identification snatchs feeding system Download PDFInfo
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- CN216030899U CN216030899U CN202122557299.9U CN202122557299U CN216030899U CN 216030899 U CN216030899 U CN 216030899U CN 202122557299 U CN202122557299 U CN 202122557299U CN 216030899 U CN216030899 U CN 216030899U
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- 230000005540 biological transmission Effects 0.000 claims description 57
- 238000012546 transfer Methods 0.000 claims description 14
- 230000000007 visual effect Effects 0.000 claims description 10
- 230000005571 horizontal transmission Effects 0.000 claims description 4
- 230000001681 protective effect Effects 0.000 claims description 4
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- 238000004519 manufacturing process Methods 0.000 description 3
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Abstract
The utility model discloses a 3D vision automatic identification grabbing and feeding system, which comprises: a material taking platform: the method comprises the following steps: the system comprises a first conveying area, a second conveying area and an emptying area, wherein the first conveying area conveys workpieces to the second conveying area, and the second conveying area conveys empty shelves to the emptying area; the first conveying area and the second conveying area are respectively provided with a transverse conveying belt and a reinforcing conveying belt, the transverse conveying belts are parallel to the reinforcing conveying belts, and the reinforcing conveying belts on the first conveying area and the reinforcing conveying belts on the second conveying area are linearly distributed in a close manner; a vertical conveying belt is arranged between the second conveying area and the emptying area; the processing platform is provided with a clamping device; a feeding manipulator comprising: the device comprises a multi-axis movable arm, a grabbing component and a 3D vision device, wherein the grabbing component is arranged at the tail end of the multi-axis movable arm; the 3D vision device can realize accurate positioning and ensure that a workpiece is correctly grabbed; the grabbing component is specially manufactured according to the structure of the workpiece, and the workpiece is grabbed stably through at least four grabbing points.
Description
Technical Field
The utility model relates to a 3D vision automatic identification grabbing and feeding system.
Background
In the automated production equipment, often get material and unloading through the manipulator, to in auto-parts, the characteristic is that shell spare or the sheet metal component of car, its shape is irregular, and its volume is great, can't get through general manipulator when getting the material and press from both sides, need research and develop specific manipulator specially and carry, but among the prior art, in-process through ordinary manipulator at the transport, counterpoint inaccurately, can't snatch smoothly, perhaps snatch the position not right, when the unloading, it is inaccurate to place the position, influence subsequent manufacturing procedure.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model provides a 3D vision automatic identification grabbing feeding system.
In order to achieve the purpose, the utility model adopts the following technical scheme: 3D vision automatic identification snatchs feeding system includes: a material taking platform:
the method comprises the following steps: the system comprises a first conveying area, a second conveying area and an emptying area, wherein the first conveying area conveys workpieces to the second conveying area, and the second conveying area conveys empty shelves to the emptying area; the first conveying area and the second conveying area are respectively provided with a transverse conveying belt and a reinforcing conveying belt, the transverse conveying belts are parallel to the reinforcing conveying belts, and the reinforcing conveying belts on the first conveying area and the reinforcing conveying belts on the second conveying area are linearly distributed in a close manner; a vertical conveying belt is arranged between the second conveying area and the emptying area;
the processing platform is provided with a clamping device;
a feeding manipulator comprising:
the device comprises a multi-axis movable arm, a grabbing component and a 3D vision device, wherein the grabbing component is arranged at the tail end of the multi-axis movable arm; the grabbing components are symmetrically distributed in two groups, and the 3D vision device is distributed between the two groups of grabbing components and is close to any group of grabbing components.
In a further technical scheme, the two groups of grabbing components are jointly arranged on the multi-axis movable arm through the mounting bracket; the grabbing component at least comprises: first arm and the second arm of getting material, first arm of getting material and the second arm of getting material all have and keep away from the installing support and stretch out or incline the end of getting material that stretches out forward straight line, first arm of getting material and the crisscross setting in horizontal and vertical space of getting material of second arm of getting material.
In a further technical solution, the 3D vision apparatus includes: the camera grabs the visual features and transmits the visual features to the host for analysis, and the multi-axis movable arm is controlled to adjust the position.
In a further technical scheme, the 3D vision device grabs the visual characteristics of the workpiece at least twice, wherein the first time is long-distance grabbing, and the second time is short-distance grabbing.
In a further technical scheme, the transverse conveying belts are symmetrically arranged at the left and right sides, and the reinforcing conveying belts are also symmetrically arranged at the left and right sides; the transverse conveying belt and the reinforcing conveying belt are driven to run by a uniform driving device; and the length of the reinforcing conveying belt is smaller than that of the transverse conveying belt, and the reinforcing conveying belt is flush with the surface of the transverse conveying belt.
In a further technical scheme, the method is characterized in that: the driving device comprises: the transmission band subassembly and the transmission shaft that motor, slope set up, horizontal transmission band, strengthen the transmission band, the one end of transmission band subassembly all connect in the transmission shaft, the motor drive the transmission band subassembly and rotate, transmission shaft, horizontal transmission band, strengthen the transmission band then.
In a further technical scheme, a protective shell is arranged outside the conveying belt assembly; and a baffle is arranged on the outer side of the transverse conveying belt.
In a further technical scheme, a lifting frame and the clamping device are arranged on the processing platform; the crane includes: a support plate and a driving cylinder; the clamping device includes: drive actuating cylinder and centre gripping arm, be provided with two contact points on the centre gripping arm at least.
In a further technical scheme, a supporting block corresponding to the clamping device is arranged on the processing platform; or the clamping device is provided with a supporting block corresponding to the clamping device; the supporting shoe fixed set up.
In a further technical scheme, a clamping gap is reserved between the clamping arm and the supporting block, and the clamping arm and the supporting block are positioned in a point contact mode.
According to the technical scheme, compared with the prior art, the utility model has the following beneficial technical effects:
the feeding manipulator is provided with the special grabbing component and the 3D vision device, a workpiece is of an irregular structure, and the 3D vision device can realize accurate positioning and guarantee correct grabbing of the workpiece; the grabbing component is specially manufactured according to the structure of the workpiece, and stably grabs the workpiece through at least four grabbing points; finally, the first conveying area and the second conveying area are both provided with the transverse conveying belts and the reinforcing conveying belts, so that the position switching between the first conveying area and the second conveying area can be effectively realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a reclaiming station;
FIG. 3 is a schematic structural view of a processing platform;
FIG. 4 is a schematic structural view of a multi-axis movable arm;
FIG. 5 is a schematic structural view of a grasping element and a 3D vision device;
fig. 6 is a schematic view of a workpiece.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
In the description of the present application, it is to be understood that the terms "longitudinal," "radial," "length," "width," "thickness," "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present application and for simplicity of description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the present application. In the description of the present application, "a plurality" means two or more unless otherwise specified.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; 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 in a specific case by those of ordinary skill in the art.
3D vision automatic identification snatchs feeding system includes: the present invention relates to a workpiece handling apparatus including a material taking platform 100, a processing platform 200, and a feeding robot 300, wherein the feeding robot 300 transports a workpiece 400 between the material taking platform 100 and the processing platform 200.
The material taking platform 100 is provided with a support made of high-progress metal, the specific structure of the support is as shown in fig. 2, the support is roughly distributed in an L shape, and the support is provided with a first transmission area 110, a second transmission area 120 and an emptying area 130, wherein the second transmission area 120 is positioned between the first transmission area 110 and the emptying area 130; the first transfer section 110 transfers the workpieces to the second transfer section 120, and the second transfer section 120 transfers the empty racks to the emptying section 130; in fig. 1 and 2, a shelf is not shown, the shelf is used for placing the workpiece 400 in order, and at least the top and/or the side of the shelf is an open structure, so that the feeding manipulator 300 can grab the workpiece conveniently.
The first transmission area 110 and the second transmission area 120 are respectively provided with a transverse transmission belt 140 and a reinforcing transmission belt 150, the transverse transmission belts 140 are parallel to the reinforcing transmission belts 150, the transverse transmission belts 140 are bilaterally symmetrical, and the reinforcing transmission belts 150 are bilaterally symmetrical; the cross conveyor 140 and the reinforcing conveyor 150 are driven to operate by a unified driving device 170; and the reinforcing transmission belt 150 has a length smaller than that of the cross transmission belt 140.
As shown in fig. 3, the cross conveyor 140 is disposed on the edge of the first transfer section 110, and the shelves are supported on the cross conveyor 140 and transferred from the first transfer section 110 to the second transfer section 120 by the cross conveyor 140.
The reinforcing conveyor 150 is disposed inside the cross conveyor 140 and adjacent to the second conveying region 120. The reinforcing conveyor 150 is used to assist the switching when the rack carrying the workpiece 400 is switched between the first conveying section 110 and the second conveying section 120.
The driving device 170 includes: the motor 171, the transmission band subassembly 172 and the transmission shaft 173 that set up to incline, the one end of cross direction transmission band 140, reinforcing transmission band 150, transmission band subassembly 172 all connect in transmission shaft 173, the motor 171 drive the transmission band subassembly 172 and rotate, then transmission shaft 173, cross direction transmission band 140, reinforcing transmission band 150 make cross direction transmission band 140 and reinforcing transmission band 150 move in step. A protective shell 174 is arranged outside the conveyor belt assembly 172, and the protective shell protects the conveyor belt assembly 172; the outer side of the transverse conveying belt 140 is provided with a baffle 175, and the baffle 175 can ensure that the conveying direction of the goods shelf is linear conveying, so that the goods shelf is prevented from deviating or falling.
The weight of the rack carrying the workpiece 400 is relatively large, and thus the area switching is better accomplished by reinforcing the arrangement of the conveyor belt 150.
As can be seen from fig. 3, the cross conveyor 140 and the reinforcing conveyor 150 on the first conveying area 110 on the second conveying area 120 are oppositely distributed, and the structures thereof are the same; the two transverse conveyor belts 140 are in the same straight line, the two reinforcing conveyor belts 150 are in the same straight line, and the two driving devices 170 are opposite to each other, so that the two transverse conveyor belts are distributed symmetrically.
The cross conveyor 140, the reinforcing conveyor 150, and the conveyor belt assembly 172 are each a transmission wheel having two ends and a transmission belt, which may be a belt or a chain structure, and have enough friction to move the rack carrying the workpiece 400.
Then, the overall conveying is that the shelves of the first conveying area 110 carrying the workpieces 400 are conveyed to the second conveying area 120 through the transverse conveying belt 140 and the reinforcing conveying belt 150 to wait for the grabbing of the feeding manipulator 300, after the grabbing of the workpieces 400 is completed, the empty shelves on the second conveying area 120 are conveyed to the emptying area 130 through the vertical conveying belt 160, and then the above steps are repeated; how the racks loaded with the workpieces 400 are transported to the first transfer section 110 and how the empty racks are discharged out of the emptying section 130 is not particularly limited, and may be manually transferred or transported by another robot.
The above-described cross conveyor 140 and the vertical conveyor 160 may be provided with position sensors.
As shown in fig. 4, the multi-axis movable arm 310 may be a four-axis mechanical arm or a six-axis mechanical arm, which can move in multiple directions and at multiple angles, and the four-axis mechanical arm and the six-axis mechanical arm are widely used in an automation production line, and should be known by those skilled in the art, and will not be described herein in detail; the feeding manipulator 300 of the present invention includes rotation, up-and-down swinging, left-and-right swinging, etc., and is different in that the grabbing component 320 and the 3D vision device 330 are installed at the end of the multi-axis movable arm 310, and the grabbing component 320 and the 3D vision device 330 are described in detail below.
Two groups of grabbing components 320 are symmetrically distributed, and the two groups of grabbing components 320 are jointly arranged on the multi-axis movable arm 310 through the mounting bracket 340;
as shown in fig. 5, the grabbing component 320 at least comprises: the first material taking arm 321 and the second material taking arm 322 are respectively provided with a material taking end 3211, 3221 which is far away from the mounting bracket 340 and extends forwards linearly or obliquely, and the first material taking arm 321 and the second material taking arm 322 are arranged in a staggered mode in the transverse and vertical spaces and can clamp the workpiece 400 correctly.
The 3D vision device 330 is disposed between the two sets of grabbing components 320 and close to any one set of grabbing components 320, and the 3D vision device 330 includes: the camera 332 captures visual features and transmits the visual features to the host 331 for analysis, and controls the multi-axis movable arm 300 to adjust the position; the 3D vision device 330 captures the visual characteristics of the workpiece at least twice, the first time being a long distance capture and the second time being a short distance capture.
As shown in fig. 1, 5 and 6, the workpiece 400 is provided with a plurality of holes and through slots, and the right side of the workpiece 400 is provided with identification holes 410, when the feeding robot 300 moves towards the material taking platform 100, the identification holes 410 on the workpiece 400 are roughly recognized for the first time from a long distance, so as to roughly determine the operation orientation of the feeding robot 300, and when the workpiece 400 is close to, the identification holes 410 are precisely recognized for the second time, so as to precisely determine the operation orientation of the feeding robot 300, and the workpiece 400 is grabbed by the grabbing component 320.
The first material taking arm 321 and the second material taking arm 322 are arranged in a staggered manner, so that the material taking device can be adapted to holes and through grooves in the workpiece 400, and can enter the holes and the through grooves to grab. The two groups of grabbing components 320 are symmetrically distributed, so that at least four grabbing points are provided, and the workpiece 400 can be stably grabbed.
The processing platform 200 is provided with a lifting frame 220 and the clamping device 210; the crane 220 includes: a support plate and a driving cylinder; the clamping device 210 includes: the clamping device comprises a driving cylinder 211 and a clamping arm 212, wherein at least two contact points are arranged on the clamping arm 212; a supporting block corresponding to the clamping device 210 is arranged on the processing platform 220; or a supporting block corresponding to the clamping device 210 is arranged on the clamping device 210; the supporting shoe fixed set up. A clamping gap is reserved between the clamping arm 212 and the supporting block 230, and the clamping arm and the supporting block are positioned in a point contact mode, so that the positioning effect is good. After the feeding manipulator 300 transports the workpiece 400 to the processing platform 200, the workpiece 400 is clamped and positioned by the clamping device 210, then is subsequently processed by the spot welding equipment, and after the spot welding processing is finished, the workpiece 400 is lifted by the lifting frame 220, so that the subsequent operation is facilitated.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. 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 utility model. Thus, the present invention 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)
- 3D vision automatic identification snatchs feeding system, its characterized in that: the method comprises the following steps:a material taking platform (100):the method comprises the following steps: a first transfer zone (110), a second transfer zone (120), and an emptying zone (130), the first transfer zone (110) transferring workpieces to the second transfer zone (120), the second transfer zone (120) transferring empty racks to the emptying zone (130); the first transmission area (110) and the second transmission area (120) are respectively provided with a transverse transmission belt (140) and a reinforcing transmission belt (150), the transverse transmission belts (140) and the reinforcing transmission belts (150) are parallel, and the reinforcing transmission belts (150) on the first transmission area (110) and the second transmission area (120) are linearly close to each other; a vertical conveying belt (160) is arranged between the second conveying area (120) and the emptying area (130);a processing platform (200) provided with a clamping device (210);feeding manipulator (300), comprising:the device comprises a multi-axis movable arm (310), a grabbing component (320) arranged at the tail end of the multi-axis movable arm (310) and a 3D visual device (330); the grabbing components (320) are symmetrically distributed in two groups, and the 3D vision devices (330) are distributed between the two groups of grabbing components (320) and are arranged close to any group of grabbing components (320).
- 2. The 3D vision automatic identification grabbing feeding system according to claim 1, characterized in that: the two groups of grabbing components (320) are jointly arranged on the multi-axis movable arm (310) through a mounting bracket (340); the grabbing component (320) at least comprises: the material taking device comprises a first material taking arm (321) and a second material taking arm (322), wherein the first material taking arm (321) and the second material taking arm (322) are respectively provided with a material taking end (3211, 3221) which is far away from a mounting bracket (340) and extends forwards linearly or obliquely, and the first material taking arm (321) and the second material taking arm (322) are arranged in a staggered mode in the transverse and vertical spaces.
- 3. The 3D vision automatic identification grabbing feeding system according to claim 2, characterized in that: the 3D visualization device (330) comprises: the camera (332) captures the visual features and transmits the visual features to the host (331) for analysis, and the multi-axis movable arm (310) is controlled to adjust the position.
- 4. The 3D vision automatic identification grabbing feeding system according to claim 3, characterized in that: the 3D vision device (330) grabs the visual characteristics of the workpiece at least twice, wherein the first time is long-distance grabbing, and the second time is short-distance grabbing.
- 5. The 3D vision automatic identification grabbing feeding system according to claim 1, characterized in that: the transverse conveying belts (140) are bilaterally symmetrical, and the reinforcing conveying belts (150) are bilaterally symmetrical; the transverse conveyor belt (140) and the reinforcing conveyor belt (150) are driven to run by a unified driving device (170); the length of the reinforcing transmission belt (150) is smaller than that of the transverse transmission belt (140), and the belt surface of the reinforcing transmission belt (150) is flush with that of the transverse transmission belt (140).
- 6. The 3D vision automatic identification grabbing feeding system according to claim 5, characterized in that: the method is characterized in that: the driving device (170) comprises: motor (171), transmission band subassembly (172) and transmission shaft (173) that the slope set up, the one end of horizontal transmission band (140), reinforcing transmission band (150), transmission band subassembly (172) all connect in transmission shaft (173), motor (171) drive transmission band subassembly (172) and rotate, transmission shaft (173), horizontal transmission band (140), reinforcing transmission band (150) then.
- 7. The 3D vision automatic identification grabbing feeding system according to claim 6, characterized in that: a protective shell (174) is arranged outside the conveying belt assembly (172), and a baffle (175) is arranged outside the transverse conveying belt (140).
- 8. The 3D vision automatic identification grabbing feeding system according to claim 1, characterized in that: the processing platform (200) is provided with a lifting frame (220) and the clamping device (210); the crane (220) comprises: a support plate and a driving cylinder; the clamping device (210) comprises: the device comprises a driving cylinder (211) and a clamping arm (212), wherein at least two contact points are arranged on the clamping arm (212).
- 9. The 3D vision automatic identification grabbing feeding system of claim 8, wherein: the processing platform (200) is provided with a supporting block (230) corresponding to the clamping device (210); or the clamping device (210) is provided with a supporting block corresponding to the clamping device (210); the supporting shoe fixed set up.
- 10. The 3D vision automatic identification grabbing feeding system of claim 9, characterized in that: a clamping gap is reserved between the clamping arm (212) and the supporting block (230), and the clamping arm (212) is in point contact with the supporting block (230) for positioning.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202122557299.9U CN216030899U (en) | 2021-10-22 | 2021-10-22 | 3D vision automatic identification snatchs feeding system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202122557299.9U CN216030899U (en) | 2021-10-22 | 2021-10-22 | 3D vision automatic identification snatchs feeding system |
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| CN216030899U true CN216030899U (en) | 2022-03-15 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113858253A (en) * | 2021-10-22 | 2021-12-31 | 东普雷（佛山）汽车部件有限公司 | 3D vision automatic identification snatchs feeding system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113858253A (en) * | 2021-10-22 | 2021-12-31 | 东普雷（佛山）汽车部件有限公司 | 3D vision automatic identification snatchs feeding system |
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