Manipulator for material transfer based on machine vision

Abstract

The invention discloses a mechanical arm for material transfer based on machine vision, and belongs to the technical field of mechanical arms, the mechanical arm comprises a working frame and a material transfer mechanism, the material transfer mechanism comprises a fixing frame, a sliding rail, a clamping assembly, a driving assembly, an adjusting assembly and a rotating assembly; the sliding block can move along the sliding rail through the driving assembly, the clamping assembly can conveniently clamp the materials, the materials of different shapes can be effectively clamped through the clamping assembly, the state of the materials in the clamping process can be clearly seen through the first camera, the angle of the materials can be observed in real time through the second camera, and the clamping efficiency of the materials is improved. The clamping assembly can be driven to rotate relative to the sliding rail through the adjusting assembly, the clamping angle can be adjusted, the materials can be driven to be subjected to direction adjustment, through cooperation with the rotating assembly, the angle when the materials are placed can be adjusted, it is guaranteed that the positions and the angles of the multiple materials are kept consistent all the time after transferring, and the working efficiency is improved. And the working effect of material transfer is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of manipulators, and in particular relates to a manipulator for material transfer based on machine vision. Background Art

[0002] Machine vision is a comprehensive technology, including image processing, mechanical engineering technology, control, electric light source lighting, optical imaging, sensors, analog and digital video technology, computer software and hardware technology (image enhancement and analysis algorithms, image cards, I / O cards, etc.); a typical machine vision application system includes image capture, light source system, image digitization module, digital image processing module, intelligent judgment and decision module and mechanical control execution module. The most basic feature of the machine vision system is to improve the flexibility and automation of production. In some dangerous working environments that are not suitable for manual operation or where artificial vision cannot meet the requirements, machine vision is often used to replace artificial vision.

[0003] The existing machine vision-based material transfer robot is not convenient for adjusting the angle of the material after picking up the material, which may easily cause the material to be incompatible with subsequent processing operations after transfer. In addition, when transferring materials of different shapes, they are prone to slipping, affecting the work effect.

[0004] In order to avoid the above technical problems, it is necessary to provide a material transfer robot based on machine vision to overcome the above defects in the prior art. Summary of the invention

[0005] The object of the present invention is to provide a material transfer robot based on machine vision to solve the problems raised in the above background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions: A material transfer manipulator based on machine vision comprises a workbench and a material transfer mechanism, wherein the material transfer mechanism comprises: A movable track is fixedly mounted on the top of the working frame, an electric slide is mounted on the movable track, a telescopic member is mounted on the bottom of the electric slide, a fixed frame is mounted on the output end of the telescopic member, a slide rail is mounted on the end of the fixed frame away from the mechanical arm, a connecting column is mounted between the fixed frame and the middle of the slide rail, the fixed frame is rotatably connected to the connecting column, a mounting frame is mounted on the side of the fixed frame, a first camera is mounted on the mounting frame, and a second camera is fixedly mounted in the middle of the bottom end of the slide rail; A slider is installed on the inner side of the slide rail, and a clamping assembly is installed on the bottom end of the slider for contacting with the material to clamp the material. A driving assembly is installed between the slide rail and the slider for driving the slider and the clamping assembly to move. An adjusting assembly is installed between the slider and the clamping assembly for driving the clamping assembly to rotate, adjust the clamping angle and drive the material to adjust the direction. A rotating assembly is installed between the fixed frame and the slide rail for driving the slide rail and the clamping assembly to rotate and adjust the angle of the material.

[0007] As a further technical solution of the present invention: the clamping assembly comprises: The support frame is fixedly mounted on the bottom side of the sliding block, and a short rod is installed on the support frame, and the short rod passes through the support frame and is rotatably connected to the support frame. A connecting frame is fixedly mounted on the middle part of the short rod, and the top of the connecting frame is fixedly connected to the short rod and is located on the inner side of the support frame. A support block is installed on the bottom end of the connecting frame, and a limiting hole is provided in the middle of the support block, and a limiting rod is provided inside the limiting hole, and the limiting rod passes through the limiting hole, and a clamping plate is fixedly mounted on one end of the limiting rod, and an elastic member is installed between the clamping plate and the support block, and the elastic member is sleeved on the outer side of the limiting rod, and a baffle is fixedly mounted on the other end of the limiting rod, and limiting components are installed on both sides of the clamping plate to increase the contact area with the material and maintain the stability of the material after clamping.

[0008] As a further technical solution of the present invention: the limit assembly includes: The limiting grooves are located on both sides of the clamping plate, a connecting rod is fixedly installed on the inner side of the limiting groove, a limiting plate is provided on the side of the clamping plate, a connecting block is fixedly installed on the side of the limiting plate close to the clamping plate, the connecting block extends into the inner side of the limiting groove and is rotatably connected with the connecting rod, a sliding groove is provided on the side of the limiting plate close to the supporting block, a supporting rod is fixedly installed on the side of the supporting block, a round rod is installed on one end of the support rod extending into the inner side of the sliding groove, and the round rod is slidably connected to the sliding groove.

[0009] As a further technical solution of the present invention: the adjustment component comprises: The gear train is constituted of a gear unit and a plurality of gears, each of which is engaged with the gear train and is provided with a plurality of gears, and the plurality of gears are engaged with the gear train, and the plurality of gears are engaged with the gear train.

[0010] As a further technical solution of the present invention: the driving assembly comprises: The second driving member is fixedly installed in the middle of the inner side of the slide rail. An adjusting rod is fixedly installed at the output end of the second driving member. The adjusting rod passes through the slider and is slidably connected to the slider. The slider is in an I-shape and is slidably connected to the slide rail.

[0011] As a further technical solution of the present invention: the rotating assembly comprises: The gear ring is fixedly mounted on the middle part of the top side of the slide rail, a third driving member is mounted on the inner side of the fixed frame, a third bevel gear is fixedly mounted on the output end of the third driving member, a limiting frame is fixedly mounted on the side of the fixed frame, a rotating rod is mounted on the limiting frame, the rotating rod is rotatably connected to the limiting frame, a rotating tooth is mounted on one end of the rotating rod, the rotating tooth is meshed with the gear ring, a fourth bevel gear is fixedly mounted on the other end of the rotating rod, and the fourth bevel gear is meshed with the third bevel gear.

[0012] As a further technical solution of the present invention: anti-slip pads are installed on the surfaces of the clamping plate and the limiting plate, a mounting plate is fixedly installed on the bottom side of the clamping plate, the mounting plate is L-shaped, and an electric suction cup is installed on the mounting plate.

[0013] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a material transfer robot based on machine vision. The driving component can realize the position movement of the slider along the slide rail, which is convenient for the clamping component to clamp the material. The clamping component can effectively clamp materials of different shapes and keep the clamping stable. The state of the material when clamped can be clearly seen through the first camera, and the angle of the material can be observed in real time through the second camera. The clamping component can be driven to rotate relative to the slide rail through the adjustment component to adjust the clamping angle and drive the material to adjust the direction. By cooperating with the rotating component, the angle of the material when placed can be adjusted to ensure that the position and angle of multiple materials after transfer are always consistent, thereby improving the working effect of material transfer. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the structure of the present invention.

[0015] Figure 2 It is a schematic diagram of the structure between the telescopic member and the clamping assembly in the present invention.

[0016] Figure 3 It is a structural schematic diagram of the rotating assembly in the present invention.

[0017] Figure 4 It is a structural schematic diagram of the bottom end of the slide rail in the present invention.

[0018] Figure 5 It is a schematic diagram of the structure between the clamping assembly and the slide rail in the present invention.

[0019] Figure 6 For the present invention Figure 5 Schematic diagram of the structure enlarged at point A in the middle.

[0020] Figure 7 It is a schematic structural diagram of the bottom side of the slide rail and the clamping assembly in the present invention.

[0021] Figure 8 It is a schematic diagram of the structure between the clamping assembly and the adjusting assembly in the present invention.

[0022] Fig. 9 It is a schematic structural diagram of the clamping assembly and the adjusting assembly in another direction of the present invention.

[0023] Fig.10 It is a schematic diagram of the structure between the clamping plate and the limiting plate in the present invention.

[0024] In the attached drawings: 1-working frame, 2-moving track, 3-electric slide seat, 4-telescopic member, 5-fixed frame, 6-slide rail, 7-clamping assembly, 71-support frame, 72-short rod, 73-connecting frame, 74-support block, 75-limiting hole, 76-limiting rod, 77-clamping plate, 78-baffle, 79-elastic member, 70-limiting assembly, 701-limiting groove, 702-connecting rod, 703-limiting plate, 704-connecting block, 705-slide groove, 706-support rod, 707-round rod, 8-adjusting assembly, 81-rotating tooth, 82-positioning frame, 83-rotating rod, 84-first cone Gear, 85-rotating cylinder, 86-second bevel gear, 87-motor frame, 88-first driving member, 89-driving rod, 80-connecting groove, 800-connecting strip, 9-rotating assembly, 91-gear ring, 92-third driving member, 93-third bevel gear, 94-limiting frame, 95-rotating rod, 96-rotating tooth, 97-fourth bevel gear, 10-driving assembly, 101-second driving member, 102-adjusting rod, 11-connecting column, 12-mounting frame, 13-first camera, 14-second camera, 15-slider, 16-anti-slip pad, 17-mounting plate, 18-electric suction cup. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0026] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0027] like Figures 1 to 10 As shown in the embodiment provided by the present invention, a material transfer manipulator based on machine vision includes a workbench 1 and a material transfer mechanism, wherein the material transfer mechanism includes: A movable track 2 is fixedly mounted on the top of the working frame 1, an electric slide 3 is mounted on the movable track 2, a telescopic member 4 is mounted on the bottom of the electric slide 3, a fixed frame 5 is mounted on the output end of the telescopic member 4, a slide rail 6 is mounted on the end of the fixed frame 5 away from the robot arm, a connecting column 11 is mounted between the fixed frame 5 and the middle of the slide rail 6, the fixed frame 5 is rotatably connected to the connecting column 11, a mounting frame 12 is mounted on the side of the fixed frame 5, a first camera 13 is mounted on the mounting frame 12, and a second camera 14 is fixedly mounted in the middle of the bottom end of the slide rail 6; A slider 15 is installed on the inner side of the slide rail 6, and a clamping assembly 7 is installed on the bottom end of the slider 15 for contacting with the material to clamp the material. A driving assembly 10 is installed between the slide rail 6 and the slider 15 for driving the slider 15 and the clamping assembly 7 to move. An adjusting assembly 8 is installed between the slider 15 and the clamping assembly 7 for driving the clamping assembly 7 to rotate, adjust the clamping angle and drive the material to adjust the direction. A rotating assembly 9 is installed between the fixed frame 5 and the slide rail 6 for driving the slide rail 6 and the clamping assembly 7 to rotate and adjust the angle of the material.

[0028] In this embodiment, the slider 15 can be moved along the slide rail 6 by the driving component 10, which is convenient for the clamping component 7 to clamp the material. The clamping component 7 can effectively clamp materials of different shapes and keep the clamping stable. The state of the material during clamping can be clearly seen through the first camera 13, and the angle of the material can be observed in real time through the second camera 14. The clamping component 7 can be driven by the adjustment component 8 to rotate relative to the slide rail 6 to adjust the clamping angle and drive the material to adjust the direction. By cooperating with the rotating component 9, the angle of the material when it is placed can be adjusted to ensure that the position and angle of multiple materials after transfer are always consistent, thereby improving the working effect of material transfer. The electric slide 3 can be moved along the moving track 2, and by cooperating with the clamping component 7, it can be convenient to During the material transfer operation, a rolling bearing is installed between one end of the connecting column 11 and the fixed frame 5, and the other end of the connecting column 11 is fixedly connected to the slide rail 6. The first camera 13 and the second camera 14 can also be used to observe in real time whether the material is damaged to ensure the integrity of the material during transfer. The material can be adjusted during the material transfer process through the adjustment component 8 and the rotation component 9 to achieve consistent positions and angles of multiple materials after transfer, which is convenient for subsequent processing operations; the slide rail 6 and the fixed frame 5 can be driven to move in the horizontal direction through the movable track 2 and the electric slide seat 3, and the slide rail 6 and the fixed frame 5 can be moved in the vertical direction through the telescopic component 4. The telescopic component 4 can be a telescopic motor or a cylinder, etc. In the present embodiment, the telescopic component 4 is a telescopic motor. The material transfer operation can be conveniently performed through the movable track 2, the electric slide rail 6 and the telescopic component 4.

[0029] In one embodiment of the present invention, see Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 8 , Fig. 9 and Fig.10 , the clamping assembly 7 comprises: The support frame 71 is fixedly mounted on the bottom side of the sliding block 15. A short rod 72 is mounted on the support frame 71. The short rod 72 passes through the support frame 71 and is rotatably connected to the support frame 71. A connecting frame 73 is fixedly mounted in the middle of the short rod 72. The top of the connecting frame 73 is fixedly connected to the short rod 72 and is located on the inner side of the support frame 71. A supporting block 74 is mounted on the bottom end of the connecting frame 73. A limiting hole 75 is provided in the middle of the supporting block 74. A limiting rod 76 is provided inside the limiting hole 75. The limiting rod 76 passes through the limiting hole 75. A clamping plate 77 is fixedly mounted on one end of the limiting rod 76. An elastic member 79 is mounted between the clamping plate 77 and the support block 74. The elastic member 79 is sleeved on the outer side of the limiting rod 76. A baffle 78 is fixedly mounted on the other end of the limiting rod 76. Limiting components 70 are installed on both sides of the clamping plate 77 to increase the contact area with the material and maintain the stability of the material after clamping.

[0030] The limiting assembly 70 includes: The limiting groove 701 is located on both sides of the clamping plate 77, and a connecting rod 702 is fixedly installed on the inner side of the limiting groove 701. A limiting plate 703 is provided on the side of the clamping plate 77. A connecting block 704 is fixedly installed on the side of the limiting plate 703 close to the clamping plate 77. The connecting block 704 extends into the inner side of the limiting groove 701 and is rotatably connected to the connecting rod 702. A sliding groove 705 is provided on the side of the limiting plate 703 close to the supporting block 74. A supporting rod 706 is fixedly installed on the side of the supporting block 74. A round rod 707 is installed on one end of the support rod 706 extending into the inner side of the sliding groove 705, and the round rod 707 is slidably connected to the sliding groove 705.

[0031] The driving assembly 10 comprises: The second driving member 101 is fixedly installed in the middle of the inner side of the slide rail 6. An adjusting rod 102 is fixedly installed at the output end of the second driving member 101. The adjusting rod 102 passes through the slider 15 and is slidably connected to the slider 15. The slider 15 is in an I-shape and is slidably connected to the slide rail 6.

[0032] In this embodiment, a support frame 71 is fixedly installed on the bottom side of the slider 15, a short rod 72 is installed on the support frame 71, a rolling bearing is installed between the short rod 72 and the support frame 71, the short rod 72 can stably rotate on the support frame 71, a connecting frame 73 is fixedly installed in the middle of the short rod 72, the top of the connecting frame 73 is located on the inner side of the support frame 71, the connecting frame 73 can rotate with the short rod 72, a limiting hole 75 is provided in the middle of the support block 74, the limiting rod 76 passes through the limiting hole 75, the limiting rod 76 can move along the limiting hole 75, the limiting rod A clamping plate 77 is fixedly installed at one end of 76, and the elastic member 79 is located between the clamping plate 77 and the support block 74. The elastic member 79 can be a spring or rubber, etc. In this embodiment, the elastic member 79 is a spring. When the clamping plate 77 clamps the material, under the action of the driving component 10, the distance between the clamping plate 77 and the support block 74 becomes smaller, and the clamping plate 77 compresses the elastic member 79, so that the clamping plate 77 can be in close contact with the material to ensure the clamping effect, and can effectively buffer to prevent the clamping plate 77 from causing damage to the material. The baffle 78 can prevent the limiting rod 76 from falling off from the limiting hole 75; Limiting grooves 701 are provided on both sides of the clamping plate 77, and a connecting rod 702 is fixedly installed on the inner side of the limiting groove 701. A limiting plate 703 is provided on the side of the clamping plate 77. The limiting plate 703 is fixedly installed with a connecting block 704 in the middle of one side near the clamping plate 77, and a rolling bearing is installed between the connecting block 704 and the connecting rod 702. A linear slide groove 705 is provided on the side of the limiting plate 703 near the support block 74, and a support rod 706 is fixedly installed on the side of the support block 74. A round rod 707 is fixedly installed on one end of the support rod 706 extending into the inner side of the slide groove 705, and the round rod 707 is slidably connected to the slide groove 705. The round rod 707 can move along the slide groove 705. When the clamping plate 77 clamps the material, the clamping plate 77 compresses the elastic member 79 to clamp the material. The distance between the plate 77 and the support block 74 is reduced, and the limiting plate 703 can change its angle relative to the clamping plate 77 through the slide groove 705, the round rod 707 and the support rod 706. The limiting plate 703 can conveniently clamp the circular material, and the limiting plate 703 can effectively increase the contact area with the material, improve the clamping effect, and facilitate operation. The surfaces of the clamping plate 77 and the limiting plate 703 are both installed with anti-slip pads 16, and the bottom side of the clamping plate 77 is fixedly installed with a mounting plate 17, and the mounting plate 17 is L-shaped. An electric suction cup 18 is installed on the mounting plate 17; the electric suction cup 18 on the mounting plate 17 can adsorb the sheet material to realize the transfer operation of the material. The staff can select different clamping methods according to the material to realize the transfer operation of different materials. A second driving member 101 is fixedly installed in the middle of the inner side of the slide rail 6. The second driving member 101 can be a rotating motor or a stepping motor, etc. In the present embodiment, the second driving member 101 is a dual-axis motor. An adjusting rod 102 is fixedly installed at the output end of the second driving member 101. The adjusting rod 102 is a threaded rod in the embodiment. A screw hole is provided on the slider 15. The inner side of the screw hole is threadedly connected to the outer side of the adjusting rod 102. Two sliders 15 and the clamping assembly 7 are each provided with two, and are divided into two groups and symmetrically installed on the slide rail 6. The adjusting rod 102 is controlled to rotate by the second driving member 101, and the two sliders 15 can be driven to move relative to each other, thereby realizing the clamping operation of the clamping assembly 7 on the material.

[0033] In one embodiment of the present invention, see Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 , the regulating component 8 comprises: The rotating gear 81 is fixedly mounted on one end of the short rod 72, and a positioning frame 82 is fixedly mounted on one side of the support frame 71. A rotating rod 83 is mounted on the positioning frame 82. The rotating rod 83 is rotatably connected to the positioning frame 82, and the rotating rod 83 is matched with the rotating gear 81. A first bevel gear 84 is fixedly mounted on the top of the rotating rod 83. A rotating cylinder 85 is mounted on the side of the support frame 71. The rotating cylinder 85 is rotatably connected to the support frame 71. A second bevel gear 86 is mounted on the outer side of one end of the rotating cylinder 85, and the second bevel gear 86 is meshed with the first bevel gear 84. A motor frame 87 is fixedly mounted on the middle part of the side of the slide rail 6, and a first driving member 88 is mounted on the inner side of the motor frame 87. A driving rod 89 is fixedly mounted on the output end of the first driving member 88. The driving rod 89 passes through the rotating cylinder 85. A connecting groove 80 is provided on the inner wall of the rotating cylinder 85. A connecting strip 800 is fixedly mounted on the outer side of the driving rod 89, and the connecting strip 800 is slidably connected to the connecting groove 80.

[0034] In the present embodiment, a rotating tooth 81 is fixedly mounted on one end of the short rod 72 away from the second driving member 101, and the rotating tooth 81 is a worm gear in the present embodiment. A positioning frame 82 is fixedly mounted on one side of the support frame 71, and a rolling bearing is installed between the rotating rod 83 and the positioning frame 82. The rotating rod 83 is a worm in the present embodiment, and the rotating rod 83 is cooperated and connected with the rotating tooth 81. A first bevel gear 84 is fixedly mounted on the top of the rotating rod 83, and a rotating cylinder 85 is installed on the top of the side surface of the support frame 71. A rolling bearing is installed between the outer side of the rotating cylinder 85 and the support frame 71. The rotating cylinder 85 is parallel to the short rod 72, and a second bevel gear 86 is fixedly mounted on the outer side of the rotating cylinder 85 close to the rotating rod 83. The second bevel gear 86 is meshed and connected with the first bevel gear 84. When the rotating cylinder 85 rotates, the rotating rod 83 can be driven to rotate, thereby further realizing that the rotating tooth 81 drives the short rod 72 and the connecting frame 73 to rotate; A motor frame 87 is fixedly installed in the middle of the side of the slide rail 6, and a first driving member 88 is fixedly installed on the motor frame 87. The first driving member 88 can be a rotating motor or a stepping motor. In this embodiment, the first driving member 88 is a dual-axis motor. A driving rod 89 is fixedly installed at the output end of the first driving member 88. The driving rod 89 passes through the rotating cylinder 85. Connecting plates are fixedly installed on the sides of both ends of the slide rail 6. The driving rod 89 is rotatably connected to the connecting plate at one end away from the first driving member 88, so that the first driving member 88 can control the driving rod 89 to perform a stable rotation operation. The inner wall of the rotating cylinder 85 is provided with a connecting plate. The groove 80 and the driving rod 89 are fixedly installed with a connecting strip 800 on the outside. The connecting strip 800 is slidably connected to the connecting groove 80. The driving assembly 10 can realize the clamping of the material by two groups of clamping assemblies 7. At this time, the rotating cylinder 85 moves along the driving rod 89. The first driving member 88 is controlled to realize that the driving rod 89 drives the rotating cylinder 85 to rotate, which is convenient for the connection frame 73 to rotate, and is convenient for clamping the material and driving the material to adjust the direction, so that the material can be rotated from horizontal to vertical, or from vertical to horizontal. The operation is convenient and the applicability is strong. It can be adjusted according to the operation of the staff.

[0035] In one embodiment of the present invention, see Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 , the rotating assembly 9 comprises: The gear ring 91 is fixedly mounted on the middle part of the top side of the slide rail 6, a third driving member 92 is mounted on the inner side of the fixed frame 5, a third bevel gear 93 is fixedly mounted on the output end of the third driving member 92, a limiting frame 94 is fixedly mounted on the side of the fixed frame 5, a rotating rod 95 is mounted on the limiting frame 94, the rotating rod 95 is rotatably connected to the limiting frame 94, a rotating tooth 96 is mounted on one end of the rotating rod 95, the rotating tooth 96 is meshedly connected to the gear ring 91, a fourth bevel gear 97 is fixedly mounted on the other end of the rotating rod 95, the fourth bevel gear 97 is meshedly connected to the third bevel gear 93.

[0036] In this embodiment, a gear ring 91 is fixedly installed at the middle part of the top of the slide rail 6, and a third driving member 92 is fixedly installed on the inner side of the fixed frame 5. The third driving member 92 can be a rotary motor or a stepping motor. In this embodiment, the third driving member 92 is a rotary motor, and a third bevel gear 93 is fixedly installed at the output end of the third driving member 92. A limit frame 94 is fixedly installed on the side of the fixed frame 5, and a vertical rotating rod 95 is installed on the limit frame 94. A rolling bearing is installed between the rotating rod 95 and the limit frame 94. A fourth bevel gear 97 is fixedly installed on the top of the rotating rod 95, and the fourth bevel gear 97 is meshed with the third bevel gear 93. A rotating tooth 96 is fixedly installed on the bottom end of the rotating rod 95, and the rotating tooth 96 is meshed with the gear ring 91. The rotating rod 95 can be rotated by controlling the third driving member 92, and the rotating tooth 96 further drives the gear ring 91 and the slide rail 6 to rotate, which is convenient for rotation operation and realizes the angle adjustment of the material.

[0037] The working principle of the present invention is: In the present invention, the electric slide 3 and the telescopic member 4 are first controlled to move the clamping assembly 7 to the top of the material, and then the first camera 13 is used to observe whether the surface of the material is damaged. Through the image of the first camera 13, the first driving member 88 and the third driving member 92 are controlled to adjust the position and angle of the clamping plate 77 to ensure that the clamping plate 77 clamps the middle of the material and ensures the clamping effect. During the clamping process, the limit plate 703 can increase the contact area with the material and is suitable for materials of different shapes. Then, the second camera 14 is used to adjust the angle and direction of the clamped material to ensure that the positions and angles of multiple materials remain consistent after transfer, which is convenient for subsequent processing operations on the material. The bottom side of the clamping plate 77 is also provided with an electric suction cup 18, which can adsorb sheet materials, expand the applicable scenarios, and facilitate the transfer of materials.

[0038] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

[0039] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A material transfer robot based on machine vision, comprising a work frame (1) and a material transfer mechanism, characterized in that: The material transfer mechanism comprises: A movable track (2) is fixedly mounted on the top of the working frame (1); an electric slide seat (3) is mounted on the movable track (2); a telescopic member (4) is mounted on the bottom of the electric slide seat (3); a fixed frame (5) is mounted on the output end of the telescopic member (4); a slide rail (6) is mounted on the end of the fixed frame (5) away from the mechanical arm; a connecting column (11) is mounted between the fixed frame (5) and the middle of the slide rail (6); the fixed frame (5) is rotatably connected to the connecting column (11); a mounting frame (12) is mounted on the side of the fixed frame (5); a first camera (13) is mounted on the mounting frame (12); and a second camera (14) is fixedly mounted in the middle of the bottom end of the slide rail (6); A slider (15) is installed inside the slide rail (6), and a clamping assembly (7) is installed at the bottom end of the slider (15) for contacting with the material to clamp the material. A driving assembly (10) is installed between the slide rail (6) and the slider (15) for driving the slider (15) and the clamping assembly (7) to move. An adjusting assembly (8) is installed between the slider (15) and the clamping assembly (7) for driving the clamping assembly (7) to rotate, adjust the clamping angle and drive the material to adjust the direction. A rotating assembly (9) is installed between the fixed frame (5) and the slide rail (6) for driving the slide rail (6) and the clamping assembly (7) to rotate and adjust the angle of the material.

2. The material transfer robot based on machine vision according to claim 1 is characterized in that: The clamping assembly (7) comprises: A support frame (71) is fixedly mounted on the bottom side of the slider (15); a short rod (72) is mounted on the support frame (71); the short rod (72) penetrates the support frame (71) and is rotatably connected to the support frame (71); a connecting frame (73) is fixedly mounted in the middle of the short rod (72); the top of the connecting frame (73) is fixedly connected to the short rod (72) and is located on the inner side of the support frame (71); a supporting block (74) is mounted at the bottom end of the connecting frame (73); a limiting hole (75) is provided in the middle of the supporting block (74); the limiting hole A limiting rod (76) is provided on the inner side of the limiting rod (75), and the limiting rod (76) passes through the limiting hole (75). A clamping plate (77) is fixedly installed on one end of the limiting rod (76), and an elastic member (79) is installed between the clamping plate (77) and the support block (74). The elastic member (79) is sleeved on the outer side of the limiting rod (76). A baffle (78) is fixedly installed on the other end of the limiting rod (76). Limiting components (70) are installed on both sides of the clamping plate (77) to increase the contact area with the material and maintain the stability of the material after clamping.

3. The material transfer robot based on machine vision according to claim 2 is characterized in that: The limiting component (70) comprises: The limiting groove (701) is located on both sides of the clamping plate (77), a connecting rod (702) is fixedly installed on the inner side of the limiting groove (701), a limiting plate (703) is provided on the side of the clamping plate (77), a connecting block (704) is fixedly installed on the side of the limiting plate (703) close to the clamping plate (77), the connecting block (704) extends into the inner side of the limiting groove (701) and is rotatably connected to the connecting rod (702), a sliding groove (705) is provided on the side of the limiting plate (703) close to the supporting block (74), a supporting rod (706) is fixedly installed on the side of the supporting block (74), a round rod (707) is installed on one end of the supporting rod (706) extending into the inner side of the sliding groove (705), and the round rod (707) is slidably connected to the sliding groove (705).

4. The material transfer manipulator based on machine vision according to claim 3 is characterized in that: The adjustment component (8) comprises: A rotating tooth (81) is fixedly mounted on one end of the short rod (72); a positioning frame (82) is fixedly mounted on one side of the support frame (71); a rotating rod (83) is mounted on the positioning frame (82); the rotating rod (83) is rotatably connected to the positioning frame (82); the rotating rod (83) is matched and connected to the rotating tooth (81); a first bevel gear (84) is fixedly mounted on the top of the rotating rod (83); a rotating cylinder (85) is mounted on the side of the support frame (71); the rotating cylinder (85) is rotatably connected to the support frame (71); a first bevel gear (84) is mounted on the outer side of one end of the rotating cylinder (85); A second bevel gear (86), the second bevel gear (86) is meshedly connected with the first bevel gear (84), a motor frame (87) is fixedly installed in the middle of the side of the slide rail (6), a first driving member (88) is installed inside the motor frame (87), a driving rod (89) is fixedly installed at the output end of the first driving member (88), the driving rod (89) passes through the rotating cylinder (85), a connecting groove (80) is provided on the inner wall of the rotating cylinder (85), a connecting strip (800) is fixedly installed on the outer side of the driving rod (89), and the connecting strip (800) is slidably connected to the connecting groove (80).

5. The material transfer robot based on machine vision according to claim 1, characterized in that: The driving assembly (10) comprises: The second driving member (101) is fixedly mounted on the middle part of the inner side of the slide rail (6); an adjusting rod (102) is fixedly mounted on the output end of the second driving member (101); the adjusting rod (102) passes through the slider (15) and is slidably connected to the slider (15); the slider (15) is in an I-shape; and the slider (15) is slidably connected to the slide rail (6).

6. The material transfer robot based on machine vision according to claim 5, characterized in that: The rotating assembly (9) comprises: A gear ring (91) is fixedly mounted on the middle part of the top side of the slide rail (6); a third driving member (92) is mounted on the inner side of the fixed frame (5); a third bevel gear (93) is fixedly mounted on the output end of the third driving member (92); a limiting frame (94) is fixedly mounted on the side of the fixed frame (5); a rotating rod (95) is mounted on the limiting frame (94); the rotating rod (95) is rotatably connected to the limiting frame (94); a rotating tooth (96) is mounted on one end of the rotating rod (95); the rotating tooth (96) is meshingly connected to the gear ring (91); a fourth bevel gear (97) is fixedly mounted on the other end of the rotating rod (95); the fourth bevel gear (97) is meshingly connected to the third bevel gear (93).

7. The material transfer robot based on machine vision according to claim 3 is characterized in that: The surfaces of the clamping plate (77) and the limiting plate (703) are both installed with anti-slip pads (16); a mounting plate (17) is fixedly installed on the bottom side of the clamping plate (77); the mounting plate (17) is L-shaped, and an electric suction cup (18) is installed on the mounting plate (17).

Images