Robot control system based on 3D visual identification

Abstract

The invention belongs to the technical field of robot control systems, and discloses a robot control system based on 3D visual identification, which comprises a base, a conveying mechanism is fixedly mounted on the right side of the top of the base, a manual recording station is arranged on the left side of the top of the conveying mechanism, and the top of the conveying mechanism is movably connected with a chassis body. A feeding station is arranged on the left side of the top of the conveying mechanism, a conveying mechanism is fixedly installed on the left side of the top of the base, a robot body located behind the feeding station is fixedly installed on the top of the base, and a gripper is installed on the front face of the robot body. A first 2D camera located on the inner side of the conveying mechanism is fixedly mounted at the top of the base, a protective fence located on the outer side of the robot body is fixedly connected to the top of the base, and an electric cylinder sliding rail located in the protective fence is fixedly mounted at the top of the base. Therefore, accurate positioning of compressor carrying can be achieved, and deviation of the compressor is prevented.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot control systems, and in particular relates to a robot control system based on 3D visual recognition. Background Art

[0002] Now, in the process of transporting the compressor, robots are needed to replace on-site manual labor, automatically put the compressor onto the chassis on the conveyor line, and pass the three holes on the compressor through the three studs on the chassis to fix it. At the same time, there are manual records of the chassis workstation on site. At present, the size of general robots is large, which makes the workstation space very compact. Generally, a turning conveying mechanism is added to increase the workstation space. However, in the process of transporting the compressor, the machine itself cannot accurately position the compressor and chassis assembly, which can easily cause the assembly position of the compressor and chassis to shift, and there will be a large error, which will affect the assembly efficiency of the compressor and chassis. Therefore, a robot control system based on 3D visual recognition is proposed. Summary of the invention

[0003] The purpose of the present invention is to provide a robot control system based on 3D visual recognition to solve the problems raised in the above background technology.

[0004] In order to achieve the above-mentioned objectives, the present invention provides the following technical solutions: a robot control system based on 3D visual recognition, comprising a base, a conveying mechanism is fixedly installed on the right side of the top of the base, a manual recording station is provided on the left side of the top of the conveying mechanism, a chassis body is movably connected to the top of the conveying mechanism, a loading station is provided on the left side of the top of the conveying mechanism, a conveying mechanism is fixedly installed on the left side of the top of the base, a robot body located behind the loading station is fixedly installed on the top of the base, a gripper is installed on the front of the robot body, a 2D camera 1 located on the inner side of the conveying mechanism is fixedly installed on the top of the base, a protective fence located outside the robot body is fixedly connected to the top of the base, an electric cylinder slide rail located inside the protective fence is fixedly installed on the top of the base, a 3D camera is movably installed above the inside of the electric cylinder slide rail, and a 2D camera 2 located behind the robot body is fixedly connected to the top of the base.

[0005] Preferably, both sides of the top of the base are fixedly connected with a fixing frame located outside the robot body, the front and rear sides of the top of the fixing frame are fixedly connected with a limit baffle, and the inner side of the limit baffle is movably sleeved with a tray.

[0006] Preferably, a stopper is fixedly connected to the top of the limit baffle, and a bottom of the stopper is movably connected to the top of the tray.

[0007] Preferably, support blocks are fixedly connected to both sides of the top of the tray, and support plates are fixedly connected to the front and rear sides of the bottom of the tray.

[0008] Preferably, a pneumatic cylinder is fixedly installed on the right side of the top of the fixing frame, and the top of the pneumatic cylinder is fixedly connected to a connecting frame.

[0009] Preferably, a limit rod is fixedly installed on the upper part of the connecting frame, a movable plate is movably sleeved on the outer surface of the limit rod, a connecting plate is fixedly connected to the left side of the movable plate, and a push block is fixedly connected to the bottom of the connecting plate.

[0010] Preferably, a driving motor is fixedly installed on the back of the connecting frame, and the driving motor is connected to a screw rod. The front end of the screw rod passes through the connecting frame and the movable plate and extends to the inner wall of the front side of the connecting frame. The outer surface of the screw rod is sleeved with the internal thread of the movable plate to set the movable plate.

[0011] Preferably, a push plate located below the tray is movably sleeved on the inner side of the limit baffle, the top of the push plate is movably connected to the bottom of the support plate, and the outer surface of the push plate and the inner wall of the limit baffle are both rough surfaces.

[0012] Preferably, springs are fixedly connected to the front and rear sides of the bottom of the push plate, and the top of the spring is fixedly connected to the top of the fixing frame.

[0013] The beneficial effects of the present invention are as follows:

[0014] 1. The present invention sets a 2D camera 1, a 3D camera and a 2D camera 2. Due to the operation of the electric cylinder slide rail, the 3D camera can be driven by the servo motor inside the 3D camera, and the 3D camera can be moved to the top of the pallet and then photographed. Then, due to the operation of the robot body, the compressor inside the pallet can be grabbed by the gripper, and then the robot body brings the compressor to the top of the 2D camera 2 for a second photograph to compensate for the offset. When the chassis body on the conveying mechanism is transported into place, the 2D camera 1 above it will take pictures and position it, and after processing all the photographic data through the visual system, it will be transmitted to the robot body position information. The robot body will assemble the compressor on the three screws on the chassis body, and finally it can be transported to the inside of the conveying mechanism through the loading station, so that the compressor can be accurately positioned and prevented from being offset.

[0015] 2. The present invention sets a movable plate, a connecting plate and a push block. Due to the operation of the driving motor, the screw rod can be rotated. Due to the rotation of the screw rod, the movable plate moves forward along the thread on the outer surface of the screw rod. At this time, the movable plate moves forward along the outer surface of the limit rod at the same time, and the movable plate drives the connecting plate and the push block to move forward. Due to the movement of the push block, the support block can be squeezed and pushed, and the tray can be driven forward by the support block. Finally, the empty tray can be pushed out from the front of the limit baffle by the push block, thereby facilitating the operator to take out the tray. This design can solve the problem in the prior art that it is inconvenient for the operator to take out the compressor on the tray after it is clamped.

[0016] 3. The present invention provides a push plate and a spring. When the top tray is completely separated from the inner side of the limit baffle, the spring, which is in a compressed state at this time, will cause the push plate to move upward due to the recovery effect of the elastic force, and at the same time, the push plate will push the support plate and the tray to move upward. Since the outer surface of the push plate and the inner wall of the limit baffle are rough surfaces, a large friction force can be generated between the push plate and the inner side of the limit baffle during the rising process of the push plate, thereby reducing the rising speed of the push plate, so that the push plate drives the tray to rise steadily, and at the same time, it can prevent the compressor inside the tray from accidentally detaching from the inside of the tray due to excessive inertia caused by too fast rising speed. At this time, the lower tray can be pushed to the top of the inner side of the limit baffle and blocked by the block, so that the robot body can continue to grab the subsequent compressors. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the structure of the present invention;

[0018] Figure 2 It is a schematic diagram of the structure of the side section of the present invention;

[0019] Figure 3 It is a schematic diagram of the overall structure of the fixing frame of the present invention;

[0020] Figure 4 It is a schematic cross-sectional view of the fixed frame of the present invention;

[0021] Figure 5 It is a cross-sectional structural schematic diagram of the connecting frame of the present invention;

[0022] Figure 6 It is a schematic cross-sectional structure diagram of the spring of the present invention;

[0023] Figure 7 It is a schematic cross-sectional structure diagram of the limit baffle of the present invention;

[0024] Figure 8 It is a structural schematic diagram of the push plate of the present invention.

[0025] In the figure: 1. base; 2. conveying mechanism; 3. chassis body; 4. manual recording station; 5. loading station; 6. conveying mechanism; 7. robot body; 8. gripper; 9. 2D camera 1; 10. protective fence; 11. electric cylinder slide rail; 12. 3D camera; 13. 2D camera 2; 14. fixing frame; 15. limit baffle; 16. block; 17. push plate; 18. tray; 19. support block; 20. support plate; 21. pneumatic cylinder; 22. connecting frame; 23. limit rod; 24. drive motor; 25. screw rod; 26. movable plate; 27. connecting plate; 28. push block; 29. ​​spring. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] like Figures 1 to 8 As shown, an embodiment of the present invention provides a robot control system based on 3D visual recognition, including a base 1, a conveying mechanism 2 is fixedly installed on the right side of the top of the base 1, a manual recording station 4 is provided on the left side of the top of the conveying mechanism 2, a chassis body 3 is movably connected to the top of the conveying mechanism 2, a loading station 5 is provided on the left side of the top of the conveying mechanism 2, a conveying mechanism 6 is fixedly installed on the left side of the top of the base 1, a robot body 7 located behind the loading station 5 is fixedly installed on the top of the base 1, a gripper 8 is installed on the front of the robot body 7, a 2D camera 9 located on the inner side of the conveying mechanism 2 is fixedly installed on the top of the base 1, a protective fence 10 located on the outer side of the robot body 7 is fixedly connected to the top of the base 1, an electric cylinder slide rail 11 located inside the protective fence 10 is fixedly installed on the top of the base 1, a 3D camera 12 is movably installed above the inside of the electric cylinder slide rail 11, and a 2D camera 13 located behind the robot body 7 is fixedly connected to the top of the base 1.

[0028] When in use, due to the operation of the electric cylinder slide 11, the 3D camera 12 can be driven by the servo motor inside it, and the 3D camera 12 can be moved to the top of the tray 18, and then a photo of it can be taken. Then, due to the operation of the robot body 7, the compressor inside the tray 18 can be grabbed by the gripper 8, and then the robot body 7 brings the compressor to the top of the 2D camera 13 for a second photo to compensate for the offset. When the chassis body 3 on the conveying mechanism 2 is transported into place, the 2D camera 9 above it will take photos and position them, and after processing all the photo data through the visual system, it will be transmitted to the robot body 7 position information. The robot body 7 will assemble the compressor on the three screws on the chassis body 3, and finally it can be transported to the inside of the conveying mechanism 6 through the loading station 5, and finally the precise positioning of the compressor transportation and assembly can be achieved.

[0029] like Figure 2 and Figure 3 As shown, in one embodiment, both sides of the top of the base 1 are fixedly connected with a fixing frame 14 located outside the robot body 7, and the front and rear sides of the top of the fixing frame 14 are fixedly connected with a limit baffle 15, and the inner side of the limit baffle 15 is movably sleeved with a tray 18.

[0030] The working principle and beneficial effects of the above technical solution are as follows: a fixing frame 14 and a limiting baffle 15 are provided. Due to the design of the fixing frame 14, the fixing frame 14 can provide a good supporting effect on the limiting baffle 15, and at the same time, the limiting baffle 15 can provide a good limiting effect on the tray 18, and at the same time, the tray 18 can move along the inner side of the limiting baffle 15.

[0031] like Figures 3 to 8 As shown, in one embodiment, a stopper 16 is fixedly connected to the top of the limiting baffle 15 , and a bottom of the stopper 16 is movably connected to the top of the tray 18 .

[0032] The working principle and beneficial effects of the above technical solution are as follows: a stopper 16 and a tray 18 are provided. Due to the design of the stopper 16, the stopper 16 can have a good blocking effect on the tray 18, and can prevent accidental detachment from the inner side of the limit baffle 15, and can fix the tray 18.

[0033] like Figures 3 to 8 As shown, in one embodiment, support blocks 19 are fixedly connected to both sides of the top of the tray 18, and support plates 20 are fixedly connected to the front and rear sides of the bottom of the tray 18.

[0034] The working principle and beneficial effects of the above technical solution are: a support block 19 and a support plate 20 are set. Due to the design of the support block 19 and the support plate 20, a good supporting effect can be provided to the upper tray 18, and at the same time, some space can be reserved for the compressor inside the tray 18.

[0035] like Figures 3 to 8 As shown, in one embodiment, a pneumatic cylinder 21 is fixedly installed on the right side of the top of the fixing frame 14 , and a connecting frame 22 is fixedly connected to the top of the pneumatic cylinder 21 .

[0036] The working principle and beneficial effects of the above technical solution are: a connecting frame 22 is set, and due to the operation of the pneumatic cylinder 21, the connecting frame 22 can be driven to move upward, so as to achieve the effect of adjusting the height of the connecting frame 22, thereby having a good driving effect on the connecting frame 22.

[0037] like Figures 3 to 8 As shown, in one embodiment, a limit rod 23 is fixedly installed on the upper part of the interior of the connecting frame 22, a movable plate 26 is movably sleeved on the outer surface of the limit rod 23, a connecting plate 27 is fixedly connected to the left side of the movable plate 26, and a push block 28 is fixedly connected to the bottom of the connecting plate 27.

[0038] The working principle and beneficial effects of the above technical solution are as follows: a push block 28 is set, and when the movable plate 26 moves forward along the outer surface of the limit rod 23, the movable plate 26 can drive the connecting plate 27 and the push block 28 to move forward. Due to the movement of the push block 28, the support block 19 can be squeezed and pushed, and the tray 18 can be driven forward by the support block 19. Finally, the empty tray 18 can be pushed out from the front of the limit baffle 15 by the push block 28, thereby facilitating the operator to take out the tray 18.

[0039] like Figures 3 to 8 As shown, in one embodiment, a drive motor 24 is fixedly mounted on the back of the connecting frame 22, and the drive motor 24 is drivingly connected to a screw rod 25. The front end of the screw rod 25 passes through the connecting frame 22 and the movable plate 26 and extends to the inner wall of the front side of the connecting frame 22. The outer surface of the screw rod 25 is sleeved with the internal thread of the movable plate 26.

[0040] The working principle and beneficial effects of the above technical solution are as follows: a movable plate 26 is set, and the operation of the driving motor 24 can cause the screw rod 25 to rotate. Due to the rotation of the screw rod 25, the movable plate 26 moves forward along the thread on the outer surface of the screw rod 25. At this time, the movable plate 26 is limited by the limiting rod 23.

[0041] like Figures 6 to 8 As shown, in one embodiment, the inner side of the limit baffle 15 is movably sleeved with a push plate 17 located below the tray 18, the top of the push plate 17 is movably connected to the bottom of the support plate 20, and the outer surface of the push plate 17 and the inner wall of the limit baffle 15 are both rough surfaces.

[0042] The working principle and beneficial effects of the above technical solution are as follows: a push plate 17 is provided, and when the push plate 17 moves upward, the push plate 17 can push the support plate 20 and the tray 18 to move upward. Since the outer surface of the push plate 17 and the inner wall of the limit baffle 15 are rough surfaces, during the rising process of the push plate 17, a greater friction force can be generated between the push plate 17 and the inner side of the limit baffle 15, thereby reducing the rising speed of the push plate 17, so that the push plate 17 drives the tray 18 to rise steadily, and at the same time, it can prevent the compressor inside the tray 18 from accidentally detaching from the inside of the tray 18 due to excessive inertia caused by too fast rising speed.

[0043] like Figures 6 to 8 As shown, in one embodiment, springs 29 are fixedly connected to the front and rear sides of the bottom of the push plate 17 , and the top of the spring 29 is fixedly connected to the top of the fixing frame 14 .

[0044] The working principle and beneficial effects of the above technical solution are as follows: a spring 29 is provided, and when the push plate 17 moves downward, the push plate 17 can squeeze the spring 29. Due to the elastic restoring effect of the spring 29, the spring 29 can drive the push plate 17 to push the tray 18 out from the inner side of the limit baffle 15.

[0045] Working principle and usage process:

[0046] During use, the operator places the tray 18 to the inner side of the limit baffle 15, and then due to the operation of the electric cylinder slide 11, the 3D camera 12 can be driven by the servo motor inside it, and the 3D camera 12 can be moved to the top of the tray 18, and then a photo is taken of it. Then due to the operation of the robot body 7, the compressor inside the tray 18 can be grabbed by the gripper 8, and then the robot body 7 takes the compressor to the top of the 2D camera 13 for a second photo to compensate for the offset. At this time, the operator places the chassis body 3 to the top of the conveying mechanism 2 through the loading station 5, and transports it to the position of the manual recording station 4 for manual recording. Finally, after the chassis body 3 on the conveying mechanism 2 is transported to the position, the 2D camera 9 above it will perform photo positioning, and after processing all the photo data through the visual system, it will be transmitted to the robot body 7 position information. The robot body 7 assembles the compressor on the three screws on the chassis body 3, and transports it to the inside of the conveying mechanism 6 through the loading station 5, and finally transmits it through the conveying mechanism 6.

[0047] When the compressor inside the top tray 18 is taken out, the drive motor 24 is started to rotate the screw rod 25. Due to the rotation of the screw rod 25, the movable plate 26 moves forward along the thread on the outer surface of the screw rod 25. At this time, the movable plate 26 also moves forward along the outer surface of the limit rod 23, and the movable plate 26 drives the connecting plate 27 and the push block 28 to move forward. Due to the movement of the push block 28, the support block 19 can be squeezed and pushed, and the tray 18 can be driven forward by the support block 19. Finally, the empty tray 18 can be pushed out from the front of the limit baffle 15 by the push block 28.

[0048] When the compressor inside the tray 18 needs to be taken out, when the top tray 18 is completely separated from the inner side of the limit baffle 15, the spring 29, which is in a compressed state at this time, will cause the push plate 17 to move upward due to the recovery effect of the elastic force, and at the same time, the push plate 17 pushes the support plate 20 and the tray 18 to move upward. Since the outer surface of the push plate 17 and the inner wall of the limit baffle 15 are rough surfaces, during the rising process of the push plate 17, a large friction force can be generated between the push plate 17 and the inner side of the limit baffle 15, so that the push plate 17 can drive the tray 18 to rise steadily. At this time, the lower tray 18 can be pushed to the top of the inner side of the limit baffle 15 and blocked by the block 16, making it convenient for the robot body 7 to continue to grab the subsequent compressors.

[0049] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0050] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot control system based on 3D visual recognition, comprising a base (1), characterized in that: A conveying mechanism (2) is fixedly installed on the right side of the top of the base (1), a manual recording station (4) is provided on the left side of the top of the conveying mechanism (2), a chassis body (3) is movably connected to the top of the conveying mechanism (2), a loading station (5) is provided on the left side of the top of the conveying mechanism (2), a conveying mechanism (6) is fixedly installed on the left side of the top of the base (1), a robot body (7) located behind the loading station (5) is fixedly installed on the top of the base (1), and a gripper ( 8), a 2D camera 1 (9) located inside the conveying mechanism (2) is fixedly installed on the top of the base (1), a protective fence (10) located outside the robot body (7) is fixedly connected to the top of the base (1), an electric cylinder slide rail (11) located inside the protective fence (10) is fixedly installed on the top of the base (1), a 3D camera (12) is movably installed above the inside of the electric cylinder slide rail (11), and a 2D camera 2 (13) located behind the robot body (7) is fixedly connected to the top of the base (1).

2. A robot control system based on 3D visual recognition according to claim 1, characterized in that: Both sides of the top of the base (1) are fixedly connected to a fixing frame (14) located outside the robot body (7), and the front and rear sides of the top of the fixing frame (14) are fixedly connected to a limit baffle (15), and the inner side of the limit baffle (15) is movably sleeved with a tray (18).

3. A robot control system based on 3D visual recognition according to claim 2, characterized in that: The top of the limit baffle (15) is fixedly connected to a baffle (16), and the bottom of the baffle (16) is movably connected to the top of the tray (18).

4. The robot control system based on 3D visual recognition according to claim 2, characterized in that: Support blocks (19) are fixedly connected to both sides of the top of the tray (18), and support plates (20) are fixedly connected to the front and rear sides of the bottom of the tray (18).

5. The robot control system based on 3D visual recognition according to claim 2, characterized in that: A pneumatic cylinder (21) is fixedly mounted on the right side of the top of the fixed frame (14), and a connecting frame (22) is fixedly connected to the top of the pneumatic cylinder (21).

6. The robot control system based on 3D visual recognition according to claim 5, characterized in that: A limiting rod (23) is fixedly installed on the upper part of the interior of the connecting frame (22); a movable plate (26) is movably sleeved on the outer surface of the limiting rod (23); a connecting plate (27) is fixedly connected to the left side of the movable plate (26); and a push block (28) is fixedly connected to the bottom of the connecting plate (27).

7. The robot control system based on 3D visual recognition according to claim 5, characterized in that: A driving motor (24) is fixedly mounted on the back of the connecting frame (22), and the driving motor (24) is connected to a screw rod (25) by driving. The front end of the screw rod (25) passes through the connecting frame (22) and the movable plate (26) and extends to the inner wall of the front side of the connecting frame (22). The outer surface of the screw rod (25) is sleeved with the internal thread of the movable plate (26), and the movable plate (26) is provided.

8. The robot control system based on 3D visual recognition according to claim 2, characterized in that: The inner side of the limit baffle (15) is movably sleeved with a push plate (17) located below the tray (18); the top of the push plate (17) is movably connected to the bottom of the support plate (20); and the outer surface of the push plate (17) and the inner wall of the limit baffle (15) are both rough surfaces.

9. The robot control system based on 3D visual recognition according to claim 1, characterized in that: Springs (29) are fixedly connected to the front and rear sides of the bottom of the push plate (17), and the top end of the spring (29) is fixedly connected to the top of the fixing frame (14).

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