CN219448502U - Vision-guided double-robot linkage feeding system - Google Patents

Abstract

The utility model discloses a vision-guided double-robot linkage feeding system, which comprises: the device comprises a transmission device, a vision system, a blocking mechanism, a ground rail, a mounting seat, a robot and a flexible clamping jaw, wherein the vision system and the blocking mechanism are respectively arranged at the same end of the transmission device; the ground rail and the fixing seat are arranged on the side edge of the transmission device, the two robots are respectively arranged on the ground rail and the mounting seat, the two flexible clamping jaws are respectively arranged on the two robots, and the vision system, the robots and the flexible clamping jaws are respectively connected through the controller. The utility model can realize automatic feeding and has higher grabbing success rate on the section bar.

Description

Vision-guided double-robot linkage feeding system

Technical Field

The utility model relates to the field of photovoltaic brackets, in particular to a vision-guided double-robot linkage feeding system.

Background

In the production process of profiles in the existing photovoltaic support 5G communication tower industry and the like, most of the existing feeding adopts manual feeding, unstacking or operation modes needing the assistance of other equipment.

In the related art, as the sectional materials (such as angle steel and channel steel) are various in variety, specification, weight, size and the like, the sectional materials can be grasped by using a robot, and can also be grasped by using a truss, but the freedom degree of the truss is far smaller than that of the robot, so that in the sectional materials with various varieties and diversity, the adaptability of the robot is stronger, the cooperation of a visual recognition system is specifically needed, namely, the position of the sectional materials is judged through a camera, and the robot is controlled to grasp through a controller.

However, in the actual grabbing process, the angle steel has a deformation amount, for example, the deformation amount of 2-3 cm exists in the length direction of the incoming material of 12 meters, if the clamping jaw is a rigid clamping jaw, after the camera gives coordinates, the camera is easy to collide, and the grabbing success rate is low.

Disclosure of Invention

The present utility model aims to solve at least to some extent one of the technical problems in the above-described technology.

Therefore, one purpose of the utility model is to provide a vision-guided double-robot linkage feeding system, which can realize automatic feeding and has higher grabbing success rate on sectional materials.

To achieve the above object, a first aspect of the present utility model provides a vision-guided dual robot linkage feeding system, comprising: the device comprises a transmission device, a vision system, a blocking mechanism, a ground rail, a mounting seat, two robots and two flexible clamping jaws, wherein the vision system and the blocking mechanism are respectively arranged at the same end of the transmission device; the ground rail and the fixing seat are arranged on the side edge of the transmission device; one of the two robots is movably arranged on the ground rail, and the other of the two robots is arranged on the mounting seat; the two flexible clamping jaws are respectively arranged on the two robots, and the vision system, the robots and the flexible clamping jaws are respectively connected through a controller; the flexible clamping jaw comprises a connecting plate, a mounting plate, a clamping jaw frame, a floating device, a first magnetic suction plate and a first electromagnetic suction and guide device, wherein the mounting plate is connected with the robot through the connecting plate; the clamping jaw frame is arranged on the mounting plate; two ends of the clamping jaw frame are respectively connected with the first magnetic suction plate through a floating device; the first electromagnetic absorber is arranged on the first magnetic absorber plate; the guide device is arranged on the side edge of the first magnetic attraction plate.

According to the vision-guided double-robot linkage feeding system, automatic feeding can be achieved, and the grabbing success rate of the profile is higher.

In addition, the vision-guided double-robot linkage feeding system provided by the utility model can also have the following additional technical characteristics:

specifically, the floating device comprises a fixed seat, a chromed bar, a spring, a linear bearing, a gasket and an inner hexagon, wherein the fixed seat is arranged on the first magnetic attraction plate; the chromed rod is arranged on the fixed seat and penetrates through the mounting hole at the end part of the clamping jaw frame; the spring is sleeved on the chrome-plated rod and is positioned between the fixed seat and the clamping jaw frame; the linear bearing is arranged on the chrome-plated rod and is positioned at the upper end of the clamping jaw frame; the top of the chromed rod is limited by the gasket and the inner hexagon.

Specifically, the guiding device comprises an air cylinder and a second magnetic suction plate, wherein the air cylinder is arranged on the first magnetic suction plate; the second magnetic attraction plate is arranged at the telescopic end of the air cylinder, and a second electromagnetic attraction plate is arranged on the second magnetic attraction plate.

Specifically, the blocking mechanism comprises a base, a driving device, a baffle, a first bracket and a second bracket, wherein the first bracket and the second bracket are arranged on the base; the driving device is arranged on the first bracket; the baffle is pivotally connected to the second bracket; the driving end of the driving device is connected with the baffle plate.

Specifically, the visual system comprises a stand column, a cross rod and a visual identification device, wherein the stand column is vertically arranged; the cross rod is horizontally arranged on the upright post; the visual recognition device is arranged on the cross rod.

Additional aspects and advantages of the utility model 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 utility model.

Drawings

The foregoing and/or additional aspects and advantages of the utility model will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:

FIG. 1 is a schematic diagram of a vision-guided dual robot ganged feed system in accordance with one embodiment of the present utility model;

FIG. 2 is a schematic illustration of the structure of a flexible jaw according to one embodiment of the utility model;

FIG. 3 is a side view of a flexible jaw according to one embodiment of the utility model;

FIG. 4 is a schematic view of a floating device according to one embodiment of the present utility model;

FIG. 5 is a schematic diagram of a blocking mechanism according to one embodiment of the utility model;

FIG. 6 is a schematic diagram of a vision system in accordance with one embodiment of the present disclosure;

as shown in the figure:

1. a transmission device; 2. a vision system; 21. a column; 22. a cross bar; 23. a visual recognition device; 3. a blocking mechanism; 31. a base; 32. a driving device; 33. a baffle; 34. a first bracket; 35. a second bracket; 4. a ground rail; 5. a mounting base; 6. a robot; 7. a flexible jaw; 71. a connecting plate; 72. a mounting plate; 73. clamping jaw rack; 74. a floating device; 741. a fixing seat; 742. a chrome-plated rod; 743. a spring; 744. a linear bearing; 745. a gasket; 746. an inner hexagon; 75. a first magnetic plate; 76. a first electromagnetic attraction; 77. a guide device; 771. a cylinder; 772. and the second magnetic attraction plate.

Detailed Description

Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present utility model and should not be construed as limiting the utility model.

The vision-guided double-robot linkage feeding system provided by the embodiment of the utility model can be applied to an automatic feeding device, for example, an automatic grabbing and feeding of angle steel.

A vision-guided dual robot ganged feed system in accordance with embodiments of the present utility model is described below with reference to the accompanying drawings.

As shown in fig. 1, the vision-guided dual robot linkage feeding system according to an embodiment of the present utility model may include a transmission device 1, a vision system 2, a blocking mechanism 3, a ground rail 4, a mounting base 5, two robots 6, and two flexible jaws 7.

Wherein, vision system 2 and blocking mechanism 3 set up respectively in the same one end of transmission device 1, and ground rail 4 and mount pad 5 all set up the side at transmission device 1, and one of two robots 6 is movably to be set up on ground rail 4, and another of two robots 6 sets up on mount pad 5, and two flexible clamping jaw 7 set up respectively on two robots 6, and vision system 2, robot 6, flexible clamping jaw 7 link to each other through the controller respectively.

It should be noted that, compared with the single robot operation, the double robot operation can be used in more complex application occasions, and the common double robot cooperation is used in shaft hole assembly, complex path welding, large object or heavy object carrying and other occasions, so that the double robot operation has greater flexibility and loading capacity.

The double robots can be used for carrying objects which are large in size or large in mass in a cooperative mode, lifting, moving, putting down and the like of the operated object can be achieved together according to the requirements of the operation tasks.

The robot 6 described in the present utility model may be a multi-axis rotating mechanical arm, with the addition of a rotation axis and increased degrees of freedom to facilitate gripping of the tilted angle steel.

As a possible case, the conveying device 1 is a conveying roller line, the idler rollers are arranged on two sides of the conveying roller line to limit, the bundled angle steel can be moved forwards by pressing a start button, and after the sensor detects that the roller line is stopped, namely, the material reaches the position.

It should be noted that, the visual system 2 can identify the width and the height of the bundle of angle steel and the positive and negative buckling of the angle steel, so as to photograph the working end face, obtain an image by photographing through a camera, preprocess the point cloud, generate the point cloud, and output the processed pose after a series of algorithms. And sending various information of the pose to a controller, and controlling the robot and the flexible clamping jaw to grasp the angle steel by the controller.

Compared with the traditional camera, the vision has a powerful planning algorithm, and when materials are grabbed, the proper grabbing angle and position can be automatically selected, so that collision is avoided, stability and stability are ensured, and smooth production of the production line is ensured.

It should be noted that, a torque sensor may be disposed on the flexible clamping jaw 7, and the state of the flexible clamping jaw 7 and the state of grabbing materials are detected in real time through the torque sensor.

In one embodiment of the present application, the flexible jaw 7 comprises a connection plate 71, a mounting plate 72, a jaw carriage 73, a floating device 74, a first magnetic attraction plate 75, a first electromagnetic attraction 76 and a guiding device 77.

Wherein, mounting panel 72 links to each other with robot 6 through connecting plate 71, and clamping jaw shelf 73 sets up on mounting panel 72, and clamping jaw shelf 73's both ends link to each other with first magnetism suction plate 75 through floating device 74 respectively, and first electromagnetism is inhaled 76 setting on first magnetism suction plate 75, and guider 77 sets up in first magnetism suction plate 75 side.

The guide 77 described in the present utility model may include a cylinder 771 and a second magnetic plate 772.

The air cylinder 771 is disposed on the first magnetic plate 75, and the second magnetic plate 772 is disposed at a telescopic end of the air cylinder 771, and a second electromagnetic absorber (not shown) is disposed on the second magnetic plate.

It can be appreciated that the first electromagnetic attraction 76 magnetically attracts the angle steel first and then the guide device 77 magnetically attracts the angle steel before grabbing the angle steel, so as to guide the first electromagnetic attraction 76 to be positioned secondarily, and thus accurate grabbing is achieved.

It should be noted that, the first electromagnetic attraction 76 and the second electromagnetic attraction are magnetic attraction discs, the magnetic attraction discs adopt an electro-permanent magnet structure, the attraction discs are not magnetic in normal state, and after the magnetic attraction discs are electrified, the magnetic force of the magnetic attraction discs is full.

As a possible case, the first electromagnetic absorber 76 has 16 specific gears, and different gears can be selected according to different sectional materials, so that when the first electromagnetic absorber 76 absorbs materials, double materials cannot be absorbed, namely, two stacked angle steels cannot be absorbed at the same time.

It will be appreciated that the gear state of the first electromagnetic clutch 76 may be selected via a touch screen/upper computer session.

The first electromagnetic attraction 76 has a reverse demagnetizing function (demagnetizing time is controlled to 0.2 s). After the angle steel is sucked up, the angle steel can be put down by reverse demagnetization when reaching the feeding position.

To illustrate the above embodiment, in one embodiment of the present utility model, the float device 74 includes a fixed seat 741, a chrome-plated rod 742, a spring 743, a linear bearing 744, a washer 745, and a hexagon socket 746.

Wherein, fixing base 741 sets up on first magnetic suction plate 75, and chromed rod 742 sets up on fixing base 741 and passes the mounting hole of clamping jaw shelf 73 tip, and spring 743 cover is located chromed rod 742, and is located between fixing base 741 and clamping jaw shelf 73, and linear bearing 744 sets up on chromed rod 742 and is located clamping jaw shelf 73 upper end, and the top of chromed rod 742 is spacing through gasket 745 and interior hexagonal 746.

It should be noted that, the flexible clamping jaw 7 can compensate for multiple directions under the action of the floating device 74, and give consideration to the deformation of the angle steel, so as to improve the grabbing success rate.

In the embodiment of the utility model, the flexible clamping jaw 7 is used for grabbing the diagonal steel, and the visual system 2 is combined, so that the grabbing success rate of the diagonal steel is improved, and the efficiency is higher when the diagonal steel is automatically fed.

Specifically, when the automatic feeding of the angle steel is performed, the related staff needs to start the blocking mechanism 3 first to prevent the subsequent conveying device 1 from being invalid, so that the angle steel is punched out, and the bundled angle steel is placed on the conveying device 1 to be conveyed to the target position.

The vision system 2 photographs angle steel on the transmission device 1, photographs and acquires an image through a camera, performs point cloud preprocessing and generates point cloud, outputs a processed pose after a series of algorithms, transmits the processed pose to a controller, and controls the robot 6 and the flexible clamping jaw 7 through the controller.

The controller controls the robot 6 to conduct angle adjustment to reach a preset optimal position, and the second magnetic attraction plate 772 and the second electromagnetic attraction plate conduct basic attraction to the angle steel through the extension of the control cylinder 771 so as to prevent the angle steel from moving, and then the controller controls the robot 6 to drive the flexible clamping jaw 7 to conduct magnetic attraction to the angle steel and synchronously shrink the cylinder 771, so that the angle steel cannot be moved or crushed while the flexible clamping jaw 7 is moved.

After the first electromagnetic attraction 76 contacts the angle steel, the controller controls the first electromagnetic attraction 76 to magnetically attract the angle steel, when the first electromagnetic attraction 76 contacts the angle steel, the chrome plated 742 rod is jacked up upwards, the spring 743 is compressed, and the floating device 74 slightly moves to compensate when deviation occurs in the position judgment of the angle steel.

Then the controller controls the robot 6 to drive the flexible clamping jaw 7 and the angle steel to lift up, and moves the flexible clamping jaw 7 and the angle steel to the feeding level, so that the automatic feeding process of the angle steel is realized.

The utility model can realize automatic feeding, full-automatic feeding and feeding, saves labor, improves the whole line automation degree of the production line, shortens the downtime of the production line, increases the yield, improves the benefit of the production line, and especially can be compatible with materials with various specifications and varieties and can also be compatible with the grabbing of profiles with non-excessive deformation.

In one embodiment of the utility model, the blocking mechanism 3 comprises a base 31, a driving device 32, a baffle 33, a first bracket 34 and a second bracket 35.

Wherein, first support 34 and second support 35 set up on base 31, drive arrangement 32 sets up on first support 34, and baffle 33 pivot connection is on second support 35, and drive arrangement 32's drive end links to each other with baffle 33.

It should be noted that, when the angle steel is transported on the transporting device 1, the controller controls the driving device 32 to jack up the baffle 33, so as to play a limiting role in transporting the angle steel, that is, when the transporting device 1 cannot stop, the baffle 33 can block the angle steel, so as to prevent the angle steel from being punched out, thereby causing equipment damage and personnel injury.

In one embodiment of the utility model, vision system 2 includes upright 21, cross bar 22, and vision recognition device 23.

Wherein, stand 21 vertically sets up, and horizontal pole 22 level sets up on stand 21, and visual recognition device 23 sets up on horizontal pole 22.

It should be noted that, the installation positions of the visual recognition device 23 and the cross bar 22 may be set by the relevant staff according to the lengths of the transmission device 1 and the angle steel, for example, when the transmission device 1 is longer and the length of the transmitted angle steel is longer, the position of the cross bar 22 may be appropriately adjusted to be higher, and the installation position of the visual recognition device 23 is set at the position flush with the transmission device 1, so as to reduce the error of the visual recognition device 23 in recognizing the angle steel caused by the angle problem, and the specific setting position may be adjusted and installed in advance by the relevant staff.

In conclusion, according to the vision-guided double-robot linkage feeding system provided by the embodiment of the utility model, automatic feeding can be realized, and the grabbing success rate of the profile is higher.

In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present utility model, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present utility model, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," 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 present utility model. In this specification, schematic representations of the above terms are not necessarily directed 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. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

While embodiments of the present utility model have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the utility model, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the utility model.

Claims (5)

1. A vision-guided dual robot linkage feed system, comprising: the device comprises a transmission device (1), a vision system (2), a blocking mechanism (3), a ground rail (4), a mounting seat (5), two robots (6) and two flexible clamping jaws (7), wherein,

the vision system (2) and the blocking mechanism (3) are respectively arranged at the same end of the transmission device (1);

the ground rail (4) and the mounting seat (5) are arranged on the side edge of the transmission device (1);

one of the two robots (6) is movably arranged on the ground rail (4), and the other of the two robots (6) is arranged on the mounting seat (5);

the two flexible clamping jaws (7) are respectively arranged on the two robots (6), and the vision system (2), the robots (6) and the flexible clamping jaws (7) are respectively connected through a controller;

the flexible clamping jaw (7) comprises a connecting plate (71), a mounting plate (72), a clamping jaw frame (73), a floating device (74), a first magnetic suction plate (75), a first electromagnetic suction plate (76) and a guiding device (77), wherein,

the mounting plate (72) is connected with the robot (6) through the connecting plate (71);

the clamping jaw frame (73) is arranged on the mounting plate (72);

two ends of the clamping jaw frame (73) are respectively connected with the first magnetic attraction plate (75) through the floating device (74);

the first electromagnetic absorber (76) is arranged on the first magnetic absorber plate (75);

the guide device (77) is arranged at the side edge of the first magnetic attraction plate (75).

2. The vision-guided dual robot linkage feed system of claim 1, wherein the float device (74) comprises a fixed seat (741), a chrome-plated rod (742), a spring (743), a linear bearing (744), a washer (745), and an internal hex (746), wherein,

the fixed seat (741) is arranged on the first magnetic suction plate (75);

the chromium plating rod (742) is arranged on the fixed seat (741) and penetrates through a mounting hole at the end part of the clamping jaw frame (73);

the spring (743) is sleeved on the chrome-plated rod (742) and is positioned between the fixed seat (741) and the clamping jaw frame (73);

the linear bearing (744) is arranged on the chrome-plated rod (742) and is positioned at the upper end of the clamping jaw frame (73);

the top of the chrome-plated rod (742) is limited by the washer (745) and the internal hex (746).

3. A vision-guided dual robotic linkage feed system as set forth in claim 1, wherein said guide means (77) comprises a cylinder (771) and a second magnetic suction plate (772), wherein,

the cylinder (771) is arranged on the first magnetic suction plate (75);

the second magnetic suction plate (772) is arranged at the telescopic end of the air cylinder (771);

and a second electromagnetic absorber is arranged on the second magnetic absorber plate.

4. A vision-guided dual robot linkage feed system according to claim 1, wherein the blocking mechanism (3) comprises a base (31), a drive (32), a baffle (33), a first bracket (34) and a second bracket (35), wherein,

the first bracket (34) and the second bracket (35) are arranged on the base (31);

the driving device (32) is arranged on the first bracket (34);

the baffle (33) is pivotally connected to the second bracket (35);

the driving end of the driving device (32) is connected with the baffle plate (33).

5. A vision-guided dual robot linkage feed system according to claim 1, wherein the vision system (2) comprises a column (21), a cross-bar (22) and a vision recognition device (23), wherein,

the upright post (21) is vertically arranged;

the cross rod (22) is horizontally arranged on the upright post (21);

the visual recognition device (23) is arranged on the cross bar (22).