CN220178783U - Visual guiding device for cylinder sleeve rough machining - Google Patents
Visual guiding device for cylinder sleeve rough machining Download PDFInfo
- Publication number
- CN220178783U CN220178783U CN202321428980.6U CN202321428980U CN220178783U CN 220178783 U CN220178783 U CN 220178783U CN 202321428980 U CN202321428980 U CN 202321428980U CN 220178783 U CN220178783 U CN 220178783U
- Authority
- CN
- China
- Prior art keywords
- cylinder sleeve
- camera
- visual guide
- robot
- rough machining
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000000007 visual effect Effects 0.000 title claims abstract description 41
- 238000003754 machining Methods 0.000 title claims abstract description 25
- 230000007306 turnover Effects 0.000 claims abstract description 27
- 238000001514 detection method Methods 0.000 claims description 14
- 230000000153 supplemental effect Effects 0.000 claims description 5
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
Abstract
The utility model discloses a visual guiding device for rough machining of a cylinder sleeve, which is used for guiding a robot to grasp the cylinder sleeve between a turnover material frame and a target machining station. When the robot places the grabbed cylinder sleeve at the target processing station, the controller is used for acquiring the current coordinate position of the target cylinder sleeve in the turnover material frame according to the picture fed back by the vision guiding camera and controlling the robot to grab the target cylinder sleeve according to the preset path according to the current coordinate position, so that the vision guiding mode is changed into a parallel structure from the original serial structure, the two actions of grabbing the cylinder sleeve by the robot and photographing by the vision guiding camera are not influenced mutually, the two actions can be synchronously performed, the stop of the robot when grabbing the cylinder sleeve is avoided, and the cylinder sleeve rough machining efficiency is improved.
Description
Technical Field
The utility model relates to the technical field of cylinder sleeve machining, in particular to a visual guiding device for cylinder sleeve rough machining.
Background
Currently, a numerical control lathe is adopted for rough machining of a cylinder sleeve, a robot is used for grabbing and feeding and discharging the cylinder sleeve, and automatic production is achieved. For ease of turnover, the cylinder liners are typically placed in turnover frames, a number of cylinder liners are placed in each turnover frame, and the cylinder liners may be randomly stacked within the turnover frame. In the prior art, a serial visual guiding mode is adopted, that is, when a robot grabs a cylinder sleeve in a material frame, the visual camera is required to shoot incoming lines of the turnover material frame, and then the incoming lines of the robot are guided to grab the cylinder sleeve. Because a certain time is needed for photographing and identifying before grabbing, the robot has a pause when grabbing the cylinder sleeve, or has long response time and low grabbing efficiency, and the rough machining efficiency of the cylinder sleeve is affected due to the fact that the robot is not smooth.
Disclosure of Invention
Accordingly, the utility model aims to provide a visual guiding device for cylinder sleeve rough machining, which changes a visual guiding mode from a serial structure to a parallel structure, and can synchronously carry out the photographing of a robot grabbing cylinder sleeve and a visual guiding camera, so that the robot is prevented from stopping when grabbing the cylinder sleeve, and the cylinder sleeve rough machining efficiency is improved.
The utility model provides a visual guiding device for rough machining of a cylinder sleeve, which is used for guiding a robot to grasp the cylinder sleeve between a turnover material frame 2 and a target processing station and is characterized by comprising the following steps:
a support frame;
the visual guide camera is fixedly arranged on the support frame and is positioned right above the turnover material frame and used for photographing a cylinder sleeve in the turnover material frame;
and the controller is used for acquiring the current coordinate position of the target cylinder sleeve in the turnover material frame according to the picture fed back by the vision guiding camera when the robot places the grabbed cylinder sleeve at the target processing station and controlling the robot to grab the target cylinder sleeve according to the preset path according to the current coordinate position.
Preferably, the support frame comprises an upright post and a cantilever vertically and fixedly arranged at the top of the upright post, and the cantilever is used for supporting the vision guiding camera.
Preferably, the support frame further comprises a connecting plate detachably and fixedly arranged on the cantilever, and the vision guiding camera is fixed on the connecting plate.
Preferably, a position adjusting component for adjusting the relative position of the cantilever and the connecting plate is arranged between the cantilever and the connecting plate.
Preferably, the position adjusting assembly comprises a mounting hole arranged on the cantilever, a plurality of adjusting holes alternatively matched with the mounting hole and fastening screws penetrating through the mounting hole and the adjusting holes.
Preferably, the device further comprises a height detection piece for detecting the height between the target cylinder sleeve and the vision guiding camera, wherein the height detection piece is connected with the controller, and the controller is used for optimizing a preset path according to signals fed back by the height detection piece.
Preferably, the height detection member is provided to the vision-guided camera.
Preferably, the vision-guided camera is provided with a supplemental light source.
Preferably, the supplemental light source is a visible light source or an infrared light source.
Preferably, the vision-guided camera is in particular a binocular vision-guided camera.
Compared with the background technology, the utility model is newly added with the support frame, the visual guide camera is fixedly arranged on the support frame, and the setting position of the visual guide camera is changed, so that the visual guide camera photographs the cylinder sleeve in the turnover material frame right above the turnover material frame. When the robot places the grabbed cylinder sleeve at the target processing station, the controller acquires the current coordinate position of the target cylinder sleeve in the turnover material frame according to the picture fed back by the vision guiding camera, and controls the robot to grab the target cylinder sleeve according to the preset path according to the current coordinate position.
Drawings
In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present utility model, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
Fig. 1 is a structural diagram of a visual guide device for rough machining of a cylinder liner according to an embodiment of the present utility model.
The reference numerals are as follows:
1-supporting frame, 11-upright post, 12-cantilever, 13-connecting plate, 2-turnover material frame and 3-vision guiding camera.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
In order that those skilled in the art will better understand the present utility model, the following description will be given in detail with reference to the accompanying drawings and specific embodiments.
The embodiment of the utility model discloses a visual guiding device for rough machining of a cylinder sleeve, which is used for guiding a robot to grasp the cylinder sleeve between a turnover material frame 2 and a target processing station. As shown in fig. 1, the visual guiding device for rough machining of the cylinder sleeve comprises a supporting frame 1, a visual guiding camera 3 and a controller, wherein the visual guiding camera 3 is fixedly arranged on the supporting frame 1, and the supporting frame 1 is mainly used for supporting the visual guiding camera 3. The vision guiding camera 3 is located directly over the turnover material frame 2 and is used for photographing the cylinder sleeve in the turnover material frame 2. The controller is respectively connected with the vision guiding camera 3 and the robot, wherein the robot is mainly used for grabbing the cylinder sleeve for loading and unloading. The structure and working principle of the robot can be specifically referred to the prior art.
When the robot places the grabbed cylinder sleeve at the target processing station, the controller acquires the current coordinate position of the target cylinder sleeve in the turnover material frame 2 according to the picture fed back by the vision guiding camera 3, and controls the robot to grab the target cylinder sleeve according to the current coordinate position and a preset path. The target machining position specifically refers to the machining position of the index control machine tool, and the preset path refers to the optimal grabbing path when the robot grabs the cylinder sleeve between the turnover material frame 2 and the numerical control machine tool.
The support frame 1 includes base, stand 11 and cantilever 12, and the base sets firmly in the bottom of stand 11, mainly plays the supporting role. The cantilever 12 is vertically and fixedly arranged at the top of the upright post 11 to form an L-shaped structure for supporting the vision guiding camera 3, and ensuring that the vision guiding camera 3 is opposite to the turnover material frame 2.
The support frame 1 further comprises a connecting plate 13, the connecting plate 13 is detachably and fixedly arranged at one end, far away from the upright post 11, of the cantilever 12, the visual guiding camera 3 is fixed at the bottom of the connecting plate 13, and the connecting plate 13 is used for connecting the cantilever 12 and the visual guiding camera 3.
A position adjusting component is arranged between the cantilever 12 and the connecting plate 13 and used for adjusting the relative positions of the cantilever 12 and the connecting plate 13, so that the position of the visual guiding camera 3 is adjusted relative to the turnover material frame 2, the visual guiding camera 3 is ensured to be opposite to the turnover material frame 2, and the assembly error between the cantilever 12 and the connecting plate 13 can be compensated.
Specifically, the position adjusting assembly includes a mounting hole provided in the cantilever 12, a plurality of adjusting holes alternately matched with the mounting hole, and a fastening screw passing through the mounting hole and the adjusting hole, and of course, the structure of the position adjusting assembly is not limited thereto.
The above-mentioned vision guiding device for cylinder liner rough machining further includes a height detecting member for detecting the height of the target cylinder liner from the vision guiding camera 3, and the height detecting member may specifically be a laser, but is not limited thereto. The height detection piece is connected with the controller. When the height detection part detects the height between the target cylinder sleeve and the vision guiding camera 3, the controller re-plans the grabbing path of the robot according to the signal fed back by the height detection part, and the optimal preset path is obtained through optimization, so that the problem that the robot cannot accurately grab the cylinder sleeve due to the height change of the target cylinder sleeve in the turnover material frame 2 is avoided, and the positioning accuracy of the cylinder sleeve is effectively improved. The height detection piece is arranged on the vision guiding camera 3, so that the accuracy and reliability of the detection result of the height detection piece are ensured.
The vision guiding camera 3 is provided with a supplementary light source to improve the cleaning degree of photographing. The supplemental light source may be a visible light source or an infrared light source. The vision guiding camera 3 is specifically a binocular vision guiding camera, and has higher positioning accuracy and more accurate measurement.
It should be noted that, according to the disclosure of the patent publication CN114045367a, "acquiring an image by using a 3D stereoscopic vision guiding camera, converting the image into an image data signal, transmitting the image data signal to an image processing algorithm system, calculating a coordinate position according to the image, and transmitting the image data signal to a plugging robot", the controller in the present utility model acquires the current coordinate position of the target cylinder liner according to the photo fed back by the vision guiding camera 3, which belongs to the prior art. In addition, according to the method for planning a robot path based on the improved artificial potential field method provided in the patent with publication No. CN105629974B, the steps include obtaining the current coordinate position and the local target point of the robot, and creating an artificial potential field method based on a virtual driving force in time to generate an reachable path between the current coordinate position and the local target point of the robot, so that it is known that the controller plans the robot grabbing path according to the current coordinate position in the present utility model. In the utility model, only the application scene of the controller is changed, and the application scene is not substantially improved. Obviously, the controller with the structure is widely applied to the existing automatic control equipment, such as MCU, DSP or singlechip. The key point of the utility model is that the vision guiding rubber 3, the robot and the controller are combined.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present utility model. 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 utility model is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The utility model provides a cylinder liner is vision guiding device for rough machining for guide robot snatchs the cylinder liner between turnover material frame (2) and target processing station, its characterized in that includes:
a support (1);
the visual guiding camera (3) is fixedly arranged on the supporting frame (1) and is positioned right above the turnover material frame (2) and is used for photographing a cylinder sleeve in the turnover material frame (2);
the controller is respectively connected with the vision guiding camera (3) and the robot, and is used for acquiring the current coordinate position of the target cylinder sleeve in the turnover material frame (2) according to the picture fed back by the vision guiding camera (3) when the robot places the grabbed cylinder sleeve at the target processing station and is used for controlling the robot to grab the target cylinder sleeve according to a preset path according to the current coordinate position.
2. The visual guide device for cylinder liner rough machining according to claim 1, wherein the support frame (1) comprises a stand column (11) and a cantilever (12) vertically fixed to the top of the stand column (11), and the cantilever (12) is used for supporting the visual guide camera (3).
3. The visual guide device for cylinder liner roughing according to claim 2, wherein the support frame (1) further comprises a connecting plate (13) detachably fixed to the cantilever (12), and the visual guide camera (3) is fixed to the connecting plate (13).
4. A visual guide device for rough machining of cylinder liners according to claim 3, characterized in that a position adjusting assembly for adjusting the relative position of the cantilever (12) and the connecting plate (13) is arranged between them.
5. The visual guide device for rough machining of a cylinder liner according to claim 4, wherein the position adjusting assembly comprises a mounting hole provided in the cantilever (12), a plurality of adjusting holes alternately matched with the mounting hole, and a fastening screw penetrating through the mounting hole and the adjusting hole.
6. The visual guide device for rough machining of cylinder liners according to any one of claims 1 to 5, characterized by further comprising a height detection member for detecting the height between the target cylinder liner and the visual guide camera (3), the height detection member being connected to the controller for optimizing the preset path according to the signal fed back by the height detection member.
7. The visual guide device for rough machining of cylinder liners according to claim 6, characterized in that the height detection means are provided to the visual guide camera (3).
8. Visual guide device for roughing cylinder liners according to any of the claims 1 to 5, characterized in that the visual guide camera (3) is provided with a supplemental light source.
9. The visual guide device for rough machining of cylinder liners according to claim 8, characterized in that the supplemental light source is a visible light source or an infrared light source.
10. Visual guide device for roughing a cylinder liner according to any one of claims 1 to 9, characterized in that the visual guide camera (3) is in particular a binocular visual guide camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321428980.6U CN220178783U (en) | 2023-06-06 | 2023-06-06 | Visual guiding device for cylinder sleeve rough machining |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321428980.6U CN220178783U (en) | 2023-06-06 | 2023-06-06 | Visual guiding device for cylinder sleeve rough machining |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220178783U true CN220178783U (en) | 2023-12-15 |
Family
ID=89099452
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321428980.6U Active CN220178783U (en) | 2023-06-06 | 2023-06-06 | Visual guiding device for cylinder sleeve rough machining |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220178783U (en) |
-
2023
- 2023-06-06 CN CN202321428980.6U patent/CN220178783U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100447525C (en) | Measuring method of image measuring instrument | |
| CN110524582B (en) | Flexible assembly welding robot workstation | |
| CN102423987B (en) | Precision engraving machine for processing glass panel and method for processing glass panel by using same | |
| CN104677912B (en) | Product appearance detecting system and detection method | |
| JP2018526221A (en) | Method and system that allows a magnetic belt to dynamically follow laser cutting | |
| CN105269403A (en) | Detecting system and detecting method | |
| CN111965192A (en) | Multi-surface imaging visual detection system and detection method | |
| CN105890669A (en) | Universal image visual inspection robot | |
| CN210864118U (en) | Optical fiber coupler | |
| CN107920209A (en) | A kind of high speed camera autofocus system, method and processor, computer equipment | |
| CN210757745U (en) | Device for acquiring and grabbing binocular vision pose | |
| CN109940360B (en) | Lens clamping device and clamping method thereof | |
| CN207563187U (en) | A kind of dispenser for photoelectric device | |
| CN113504613A (en) | Automatic fiber lens coupling system based on Gaussian beam quality analysis | |
| CN220178783U (en) | Visual guiding device for cylinder sleeve rough machining | |
| CN108838522A (en) | The control system of laser cutting head based on the movement of EtherCAT bus multi-axial Simultaneous | |
| CN102189333A (en) | Laser cutting machine with CCD automatic focusing system | |
| CN209707620U (en) | A kind of general battery Check up polarity equipment | |
| CN110039520B (en) | Teaching and processing system based on image contrast | |
| CN111992895A (en) | Intelligent marking system and method | |
| CN111993420A (en) | Fixed binocular vision 3D guide piece feeding system | |
| CN111596425A (en) | Automatic light focusing system for collimator to focus light | |
| CN115047005B (en) | High-throughput digital slice scanning device and method | |
| JP5740647B2 (en) | Image measuring device | |
| CN217385266U (en) | Stitch detection device for special-shaped component |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |