A flexible automatic vision feeding and discharging system and method for sheet metal parts

Abstract

The application discloses a flexible automatic vision feeding and discharging system for sheet metal parts, which comprises a pose recognition device and a feeding and discharging device. The pose recognition device comprises a first conveying mechanism, a first support, a first detection assembly, a second detection assembly, a lifting driving assembly and a third detection assembly. The first support is provided with a first magnetic field generating plate at the top, and the two sides of the first support are provided with the second detection assembly and a second magnetic field generating plate. The output end of the lifting driving assembly is provided with the third detection assembly and a third magnetic field generating plate at intervals. The first detection assembly comprises a plurality of first magnetic detection units, and the second detection assembly and the third detection assembly each comprise a plurality of second magnetic detection units. The application further comprises a control unit and a second conveying mechanism, and the feeding and discharging device is located between the first conveying mechanism and the second conveying mechanism. The application realizes the avoidance of the influence of external light environment on the recognition process of the sheet metal parts through the magnetic field imaging mode, improves the recognition speed and recognition accuracy, and realizes more reliable grabbing.

Description

Technical Field

[0001] This invention relates to the field of sheet metal parts loading and unloading technology, and in particular to a flexible automatic vision loading and unloading system for sheet metal parts. Background Technology

[0002] Currently, automatic vision loading and unloading systems for sheet metal parts utilize visible light imaging. An industrial camera photographs the sheet metal parts, and the position and orientation information of the sheet metal parts are obtained by analyzing the features of the acquired images, thus enabling the positioning of the sheet metal parts.

[0003] However, in actual production, the external lighting conditions and the surface condition of sheet metal parts are constantly changing. These changes often affect the quality of the acquired images, leading to a decrease in recognition speed and accuracy, or even misidentification, which can cause sheet metal parts to fail to be grasped or even damage the sheet metal parts. Summary of the Invention

[0004] The purpose of this invention is to overcome the above-mentioned shortcomings and provide a flexible automatic vision loading and unloading system for sheet metal parts.

[0005] To achieve the above objectives, the specific solution of the present invention is as follows:

[0006] A flexible automatic vision loading and unloading system for sheet metal parts includes a pose recognition device and a loading and unloading device;

[0007] The pose recognition device includes a first conveying mechanism, a first support, a first detection component, a second detection component, a lifting drive component, and a third detection component. The first support is fixed above the first conveying mechanism. The first detection component is located inside the first conveying mechanism and directly below the first support. The top of the first support is provided with a first magnetic field generating plate that is vertically opposite to the first detection component in a first direction. The sides of the first support are provided with a second detection component and a second magnetic field generating plate that are opposite to each other in a second direction. The lifting drive component is located on the top of the first support. The output end of the lifting drive component is spaced apart from the third detection component and the third magnetic field generating plate. The third detection component and the third magnetic field generating plate are opposite to each other in a third direction. The first direction, the second direction, and the third direction are mutually perpendicular. The first detection component includes multiple first magnetic detection units arranged in an array. The second detection component and the third detection component each include multiple second magnetic detection units arranged in an array. The loading and unloading device is located outside the discharge end of the first conveying mechanism.

[0008] It also includes a control unit and a second conveying mechanism. The control unit is electrically connected to the pose recognition device, the loading and unloading device, and the second conveying mechanism. The second conveying mechanism is located outside the discharge end of the first conveying mechanism, and the loading and unloading device is located between the first conveying mechanism and the second conveying mechanism.

[0009] In a further embodiment of the present invention, the first detection component includes a first detection body, and a plurality of first magnetic detection units are arrayed on the first detection body. Each first magnetic detection unit includes a first liquid cylinder, a first electrode and a first ferromagnetic slider. One end of the first liquid cylinder is fixed on the first detection body, the first ferromagnetic slider is disposed inside the first liquid cylinder, and the first electrode is disposed at the other end of the first liquid cylinder. The first electrode and the first ferromagnetic slider form a set of parallel plate capacitors.

[0010] In a further embodiment of the present invention, the first liquid cylinder is filled with liquid, and the first ferromagnetic slider is suspended in the liquid.

[0011] In a further embodiment of the present invention, both the second detection component and the third detection component include a second detection body, and a plurality of second magnetic detection units are arrayed on the second detection body. Each second magnetic detection unit includes a second liquid cylinder, a second electrode, a second ferromagnetic slider and a first permanent magnet. One end of the second liquid cylinder is fixed on the second detection body, the first permanent magnet is disposed at one end of the second liquid cylinder, the second ferromagnetic slider is disposed inside the second liquid cylinder, and the second electrode is disposed at the other end of the second liquid cylinder. The second electrode and the second ferromagnetic slider form a set of parallel plate capacitors.

[0012] In a further embodiment of the present invention, the lifting drive assembly includes a second bracket, a sliding bracket, and a lifting push rod. The second bracket is fixed to the top of the first bracket, the lifting push rod is installed on the top of the second bracket, and the two ends of the sliding bracket are respectively slidably connected to the second bracket. Both ends of the sliding bracket movably penetrate the second bracket, and the middle part of the sliding bracket is connected to the output end of the lifting push rod. The third detection component and the third magnetic field generating plate are respectively installed at the two ends of the sliding bracket.

[0013] Furthermore, the pose recognition device further includes a fourth detection component, which is disposed within the first conveying mechanism and located at the discharge end of the first conveying mechanism. The structure of the fourth detection component is the same as that of the first detection component. The loading and unloading device includes a robotic arm and a gripping mechanism fixedly mounted on the robotic arm. The gripping mechanism includes a clamp body, an electromagnetic chuck in the middle of the clamp body, and a first positioning unit and a second positioning unit at both ends of the clamp body. The first positioning unit and the second positioning unit are each provided with a positioning pin, and the positioning pin is provided with a second permanent magnet.

[0014] In a further embodiment of the present invention, the first positioning unit includes a third bracket, a first push rod, and a sliding plate. One end of the third bracket is fixedly connected to the fixture body, the first push rod is fixedly installed at the other end of the third bracket, and the sliding plate is slidably connected to the other end of the third bracket and connected to the output end of the first push rod. A positioning pin is protruding on the sliding plate.

[0015] In a further embodiment of the present invention, the second positioning unit includes a fourth bracket, a second push rod, and a positioning head. One end of the fourth bracket is fixedly connected to the fixture body, the second push rod is fixedly installed at the other end of the fourth bracket, and the positioning head is slidably connected to the other end of the fourth bracket and connected to the output end of the second push rod. A positioning pin is protruding from the positioning head.

[0016] The beneficial effects of this invention are as follows: By arranging a first detection component and a first magnetic field generating plate opposite each other in a first direction, a second detection component and a second magnetic field generating plate opposite each other in a second direction, and a third detection component and a third magnetic field generating plate opposite each other in a third direction, this invention utilizes the magnetic shielding of the sheet metal part and the magnetic leakage of the positioning hole to obtain the pose information and deflection information of the sheet metal part, as well as the current coordinate information of the sheet metal part and the positioning hole. The control unit then controls the loading and unloading device to accurately grasp the sheet metal part based on its pose information, deflection information, and the current coordinate information of the sheet metal part and the positioning hole. This achieves the goal of avoiding the influence of external lighting environment on the sheet metal part recognition process through magnetic field imaging, improving recognition speed and accuracy, and making grasping more reliable. Attached Figure Description

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

[0018] Figure 2 This is a schematic diagram of the posture recognition device of the present invention;

[0019] Figure 3 This is a structural schematic diagram of the pose recognition device of the present invention from another perspective;

[0020] Figure 4 This is an exploded view of the pose recognition device of the present invention;

[0021] Figure 5 yes Figure 4 A magnified view of a portion of point A in the middle;

[0022] Figure 6 This is a cross-sectional view of the first magnetic detection unit of the present invention;

[0023] Figure 7 This is a cross-sectional view of the second magnetic detection unit of the present invention;

[0024] Figure 8This is a schematic diagram of the loading and unloading device of the present invention;

[0025] Figure 9 This is a schematic diagram of the structure of the first positioning unit of the present invention;

[0026] Figure 10 This is a schematic diagram of the structure of the second positioning unit of the present invention;

[0027] Explanation of reference numerals in the attached drawings: 1. Pose recognition device; 10. First conveying mechanism; 11. First support; 12. First detection component; 13. Second detection component; 14. Lifting drive component; 141. Second support; 142. Sliding support; 143. Lifting push rod; 15. Third detection component; 16. First magnetic field generating plate; 17. Second magnetic field generating plate; 18. Third magnetic field generating plate; 19. Fourth detection component; 2. Loading and unloading device; 21. Robotic arm; 22. Gripping mechanism; 221. Fixture body; 222. First positioning unit; 2221. Third support; 2222. First push rod; 2223. Sliding plate; 223. Second positioning unit; 2231. Fourth support; 2232. Second push rod; 2233. Positioning head; 3. Control unit; 4. Second conveying mechanism;

[0028] 101. First detection body; 102. First magnetic detection unit; 1021. First liquid cylinder; 1022. First electrode; 1023. First ferromagnetic slider; 201. Second detection body; 202. Second magnetic detection unit; 2021. Second liquid cylinder; 2022. Second electrode; 2023. Second ferromagnetic slider; 2024. First permanent magnet; 301. Positioning pin; 302. Second permanent magnet. Detailed Implementation

[0029] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments, but this is not to limit the scope of the invention to this.

[0030] like Figures 1 to 10 As shown in the figure, the sheet metal flexible automatic vision loading and unloading system described in this embodiment is made of a material with magnetic shielding properties (such as steel), and the flange of the sheet metal is formed with positioning holes; the automatic vision loading and unloading system includes a pose recognition device 1 and a loading and unloading device 2.

[0031] The pose recognition device 1 includes a first conveying mechanism 10, a first support 11, a first detection component 12, a second detection component 13, a lifting drive component 14, and a third detection component 15. The first support 11 is fixed above the first conveying mechanism 10. The first detection component 12 is disposed within the first conveying mechanism 10 and located directly below the first support 11. A first magnetic field generating plate 16 is provided on the top of the first support 11, which is vertically opposed to the first detection component 12 in a first direction. Second detection components 13 and second magnetic field generating plates 17 are provided on both sides of the first support 11, which are vertically opposed in a second direction. The lifting drive assembly 14 is located on the top of the first bracket 11. The output end of the lifting drive assembly 14 is provided with a third detection assembly 15 and a third magnetic field generating plate 18 spaced apart. The third detection assembly 15 and the third magnetic field generating plate 18 are arranged opposite each other in a third direction. The first direction, the second direction, and the third direction are mutually perpendicular. The first detection assembly 12 includes a plurality of first magnetic detection units 102 arranged in an array. The second detection assembly 13 and the third detection assembly 15 each include a plurality of second magnetic detection units 202 arranged in an array. The loading and unloading device 2 is located outside the discharge end of the first conveying mechanism 10.

[0032] It also includes a control unit 3 and a second conveying mechanism 4. The control unit 3 is electrically connected to the pose recognition device 1, the loading / unloading device 2, and the second conveying mechanism 4. The second conveying mechanism 4 is located outside the discharge end of the first conveying mechanism 10, and the loading / unloading device 2 is located between the first conveying mechanism 10 and the second conveying mechanism 4. Specifically, the control unit 3 is installed on the top of the first support 11.

[0033] The working method of this embodiment is as follows: During operation, the control unit 3 stores the first reference coordinate information of the sheet metal part and the second reference coordinate information of the positioning hole. The first magnetic field generating plate 16 forms a uniform magnetic field in the area between the first detection component 12 and the first magnetic field generating plate 16. The second magnetic field generating plate 17 forms a uniform magnetic field in the area between the second detection component 13 and the second magnetic field generating plate 17. The third magnetic field generating plate 18 forms a uniform magnetic field in the area between the third detection component 15 and the third magnetic field generating plate 18. The first direction, the second direction, and the third direction are the z direction, the y direction, and the x direction, respectively.

[0034] The sheet metal part is placed at the feed end of the first conveyor mechanism 10 from the upstream incoming direction. The first conveyor mechanism 10 transports the sheet metal part to its discharge end along a third direction until the sheet metal part is completely in the area below the first bracket 11. Then, the lifting drive drives the third magnetic field generating plate 18 and the third detection component 15 to descend along a first direction until they contact the top surface of the first conveyor mechanism 10. At this time, the first conveyor mechanism 10, the second magnetic field generating plate 17, the first magnetic field generating plate 16, the second detection component 13, the third magnetic field generating plate 18, and the third detection component 15 form a closed space. The sheet metal part is located in this closed space. At this time, the first detection component 12 is located on the xy plane, the second detection component 13 is located on the xz plane, and the third detection component 15 is located on the yz plane. Since the sheet metal part has a shielding effect on the magnetic field, the first detection component 12, the second detection component 13, and the third detection component 15 are all located in the xy plane. The first magnetic detection unit 102 and the second magnetic detection unit 202 on the second detection component 13 and the third detection component 15, corresponding to the position of the sheet metal part, output high-level electrical signals to the control unit 3 due to magnetic shielding. At the same time, due to magnetic leakage at the positioning hole of the sheet metal part, the first magnetic detection unit 102 and the second magnetic detection unit 202 corresponding to the positioning hole output low-level electrical signals to the control unit 3. The control unit 3 obtains the current first coordinate information of the sheet metal part and the current second coordinate information of the positioning hole based on the high and low level electrical signals generated by each first magnetic detection unit 102 and the second magnetic detection unit 202. Then, the control unit 3 compares and analyzes the current first coordinate information and the current second coordinate information of the sheet metal part with the first reference coordinate information and the second reference coordinate information to obtain the pose information and deflection position information of the sheet metal part.

[0035] After information acquisition is completed, the lifting drive unit drives the third magnetic field generating plate 18 and the third detection component 15 to move upward along the first direction. The first conveying mechanism 10 drives the sheet metal part after information acquisition to move along the third direction, that is, the first conveying mechanism 10 translates a certain distance along the x-direction, so that the sheet metal part after information acquisition is located at the gripping position of the discharge end of the first conveying mechanism 10. At this time, the control unit 3 obtains the current third coordinate information of the sheet metal part and the current fourth coordinate information of the positioning hole. Then, the control unit 3 controls the loading and unloading device 2 to grip the sheet metal part onto the second conveying mechanism 4 according to the sheet metal's pose information, deflection position information, and the current third coordinate information and the current fourth coordinate information of the positioning hole. The second conveying mechanism 4 then transmits the sheet metal part to the downstream process. In this embodiment, the first reference coordinate information of the sheet metal part is the coordinate information of the sheet metal part when it is standardly placed on the first conveying mechanism 10 and located in the enclosed space; the second reference coordinate information of the positioning hole is the coordinate information of the positioning hole when the sheet metal part is standardly placed on the first conveying mechanism 10 and located in the enclosed space.

[0036] This embodiment uses a first detection component 12 and a first magnetic field generating plate 16 arranged opposite each other in a first direction, a second detection component 13 and a second magnetic field generating plate 17 arranged opposite each other in a second direction, and a third detection component 15 and a third magnetic field generating plate 18 arranged opposite each other in a third direction. By utilizing the magnetic shielding of the sheet metal part and the magnetic leakage of the positioning hole, the pose information and deflection information of the sheet metal part, as well as the current coordinate information of the sheet metal part and the positioning hole, are obtained. Then, the control unit 3 controls the loading and unloading device 2 to accurately grasp the sheet metal part according to the pose information and deflection position information of the sheet metal part, as well as the current coordinate information of the sheet metal part and the positioning hole. This achieves the avoidance of the influence of the external lighting environment on the sheet metal part recognition process through magnetic field imaging, improves the recognition speed and recognition accuracy, and makes the grasping more reliable.

[0037] like Figures 1 to 6 As shown, based on the above embodiments, the first detection component 12 further includes a first detection body 101, and a plurality of first magnetic detection units 102 arrayed on the first detection body 101. Each first magnetic detection unit 102 includes a first liquid cylinder 1021, a first electrode 1022 and a first ferromagnetic slider 1023. One end of the first liquid cylinder 1021 is fixed on the first detection body 101, the first ferromagnetic slider 1023 is disposed inside the first liquid cylinder 1021, and the first electrode 1022 is disposed at the other end of the first liquid cylinder 1021. The first electrode 1022 and the first ferromagnetic slider 1023 form a set of parallel plate capacitors.

[0038] Specifically, when the sheet metal part is located in an enclosed space, the sheet metal part shields the uniform magnetic field generated by the first magnetic field generating plate 16, so the first magnetic detection unit 102 corresponding to the position of the sheet metal part is not affected by the magnetic field. That is, the uniform magnetic field generated by the first magnetic field generating plate 16 forms a magnetic field shadow on the plane (xy plane) of the first detection component 12, and the corresponding first ferromagnetic slider 1023 loses the attraction force of the uniform magnetic field. The distance between the first ferromagnetic slider 1023 and the first electrode 1022 increases, the capacitance decreases, and thus a high-level electrical signal is output to the control unit 3. However, the first magnetic detection unit 102 corresponding to the positioning hole is still affected by the magnetic field due to the magnetic leakage at the positioning hole. That is, the first ferromagnetic slider 1023 is still attracted by the uniform magnetic field, and the distance between the first ferromagnetic slider 1023 and the first electrode 1022 is smaller than the distance when it is not affected by the uniform magnetic field, thus a low-level electrical signal is output to the control unit 3. Thus, the coordinate information of the sheet metal part and the positioning hole in the xy plane is obtained by magnetic field projection.

[0039] Based on the above embodiments, the first liquid cylinder 1021 is further filled with liquid, and the first ferromagnetic slider 1023 is suspended in the liquid. This embodiment eliminates the influence of gravity on the movement of the first ferromagnetic slider 1023 by filling the first liquid cylinder 1021 with liquid, thereby improving the responsiveness of the first ferromagnetic slider 1023.

[0040] like Figures 1 to 5 , Figure 7 As shown, based on the above embodiments, the second detection component 13 and the third detection component 15 both include a second detection body 201, and a plurality of second magnetic detection units 202 are arrayed on the second detection body 201. Each second magnetic detection unit 202 includes a second liquid cylinder 2021, a second electrode 2022, a second ferromagnetic slider 2023 and a first permanent magnet 2024. One end of the second liquid cylinder 2021 is fixed on the second detection body 201, the first permanent magnet 2024 is disposed at one end of the second liquid cylinder 2021, the second ferromagnetic slider 2023 is disposed inside the second liquid cylinder 2021, and the second electrode 2022 is disposed at the other end of the second liquid cylinder 2021. The second electrode 2022 and the second ferromagnetic slider 2023 form a set of parallel plate capacitors.

[0041] Specifically, when the sheet metal part is located in an enclosed space, because the sheet metal part shields the uniform magnetic fields generated by the second magnetic field generating plate 17 and the third magnetic field generating plate 18, the second magnetic detection unit 202 corresponding to the position of the sheet metal part is not affected by the magnetic field. That is, the uniform magnetic fields generated by the second magnetic field generating plate 17 and the third magnetic field generating plate 18 form magnetic field shadows on the planes (xz plane and yz plane) of the second detection component 13 and the third detection component 15. The corresponding second ferromagnetic slider 2023 loses the attraction force of the uniform magnetic field. At this time, the first permanent magnet 2024 drives the second ferromagnetic slider 2023 to move away from the second electrode 2022. As the distance between the slider 2023 and the second electrode 2022 increases, the capacitance decreases, thereby outputting a high-level electrical signal to the control unit 3. Meanwhile, the second magnetic detection unit 202 corresponding to the positioning hole is still subject to the magnetic field due to the magnetic leakage at the positioning hole. That is, the second ferromagnetic slider 2023 is still subject to the attraction force of the uniform magnetic field. The distance between the second ferromagnetic slider 2023 and the second electrode 2022 is smaller than the distance when it is not subject to the uniform magnetic field, thereby outputting a low-level electrical signal to the control unit 3. Thus, the coordinate information of the sheet metal part and the positioning hole in the xz plane and yz plane is obtained by magnetic field projection.

[0042] like Figures 2 to 4As shown, based on the above embodiments, the lifting drive assembly 14 further includes a second bracket 141, a sliding bracket 142, and a lifting push rod 143. The second bracket 141 is fixed to the top of the first bracket 11, the lifting push rod 143 is installed on the top of the second bracket 141, the two ends of the sliding bracket 142 are respectively slidably connected to the second bracket 141, both ends of the sliding bracket 142 movably pass through the second bracket 141, the middle part of the sliding bracket 142 is connected to the output end of the lifting push rod 143, and the third detection assembly 15 and the third magnetic field generating plate 18 are respectively installed at the two ends of the sliding bracket 142.

[0043] In this embodiment, the lifting push rod 143 drives the sliding bracket 142 to move up and down along the z-direction, thereby driving the third magnetic field generating plate 18 and the third detection component 15 to move in the z-direction. When it is necessary to identify the sheet metal parts, the lifting push rod 143 drives the third magnetic field generating plate 18 and the third detection component 15 to descend and form a closed space between the first conveying mechanism 10, the second magnetic field generating plate 17, the second detection component 13, and the first magnetic field generating plate 16, so as to identify the sheet metal parts.

[0044] like Figure 1 , Figures 8 to 10 As shown, based on the above embodiments, the pose recognition device 1 further includes a fourth detection component 19, which is disposed within the first conveying mechanism 10 and located at the discharge end of the first conveying mechanism 10. The structure of the fourth detection component 19 is the same as that of the first detection component 12. The loading and unloading device 2 includes a robotic arm 21 and a gripping mechanism 22 fixedly mounted on the robotic arm 21. The gripping mechanism 22 includes a clamp body 221, an electromagnetic chuck in the middle of the clamp body 221, and a first positioning unit 222 and a second positioning unit 223 at both ends of the clamp body 221. The first positioning unit 222 and the second positioning unit 223 are each provided with a positioning pin 301, and the positioning pin 301 is provided with a second permanent magnet 302.

[0045] Specifically, after the sheet metal part information is collected, the first conveying mechanism 10 moves the sheet metal part along a third direction, so that the sheet metal part is directly above the fourth detection component 19 at the discharge end of the first conveying mechanism 10. The control unit 3 obtains the current third coordinate information of the sheet metal part and the current fourth coordinate information of the positioning hole. The control unit 3 controls the robotic arm 21 to move the gripping mechanism 22 directly above the sheet metal part. The magnetic field generated by the second permanent magnet 302 on the gripping mechanism 22 attracts the ferromagnetic slider in the first magnetic detection unit 102 on the fourth detection component 19 corresponding to the position of the positioning hole. The first magnetic detection unit 102 generates a low-level electrical signal. The control unit 3 compares the coordinates of the first magnetic detection unit 102 that generates the low-level electrical signal with the coordinates of the corresponding first magnetic detection unit 102 in the first detection component 12. After the comparison is correct, the control unit 3 confirms that the gripping position of the gripping mechanism 22 is correct. Then, the control unit 3 controls the electromagnetic chuck to adsorb the sheet metal part. The positioning pins 301 of the first positioning unit 222 and the second positioning unit 223 are inserted into the corresponding positioning holes to position and clamp the sheet metal part. Then, the control unit 3 controls the robotic arm 21 to move the gripping mechanism 22 and the gripped sheet metal part to directly above the second conveying mechanism 4 and place the sheet metal part on the second conveying mechanism 4, thereby completing the gripping and transfer of the sheet metal part.

[0046] like Figure 9 As shown, based on the above embodiments, the first positioning unit 222 further includes a third bracket 2221, a first push rod 2222, and a sliding plate 2223. One end of the third bracket 2221 is fixedly connected to the clamp body 221, the first push rod 2222 is fixedly installed on the other end of the third bracket 2221, and the sliding plate 2223 is slidably connected to the other end of the third bracket 2221 and connected to the output end of the first push rod 2222. A positioning pin 301 is protruding on the sliding plate 2223.

[0047] In actual use, the second permanent magnet 302 on the positioning pin 301 attracts the ferromagnetic slider in the first magnetic detection unit 102 corresponding to the positioning hole of the fourth detection component 19, causing the first magnetic detection unit 102 to generate a low-level electrical signal so that the control unit 3 can confirm whether the gripping position is correct. After confirming that the gripping position is correct, the first push rod 2222 drives the sliding plate 2223 to extend, so that the positioning pin 301 on the sliding plate 2223 is inserted into the corresponding positioning hole to clamp and position the sheet metal part, making the gripping more secure and reliable.

[0048] like Figure 10As shown, based on the above embodiments, the second positioning unit 223 further includes a fourth bracket 2231, a second push rod 2232, and a positioning head 2233. One end of the fourth bracket 2231 is fixedly connected to the clamp body 221, the second push rod 2232 is fixedly installed on the other end of the fourth bracket 2231, and the positioning head 2233 is slidably connected to the other end of the fourth bracket 2231 and connected to the output end of the second push rod 2232. A positioning pin 301 protrudes from the positioning head 2233.

[0049] In actual use, the second permanent magnet 302 on the positioning pin 301 attracts the ferromagnetic slider in the first magnetic detection unit 102 corresponding to the positioning hole of the fourth detection component 19, causing the first magnetic detection unit 102 to generate a low-level electrical signal so that the control unit 3 can confirm whether the gripping position is correct. After confirming that the gripping position is correct, the second push rod 2232 drives the positioning head 2233 to extend, so that the positioning pin 301 on the positioning head 2233 inserts into the corresponding positioning hole to clamp and position the sheet metal part, making the gripping more secure and reliable.

[0050] In this embodiment, a first positioning unit 222 and a second positioning unit 223 are provided at both ends of the clamp body 221 to clamp and position the sheet metal parts, making the gripping mechanism 22 grip the sheet metal parts more reliable.

[0051] In this embodiment, both the first conveying mechanism 10 and the second conveying mechanism 4 use conveyor belt structures to transport sheet metal parts.

[0052] The above description is only a preferred embodiment of the present invention. Therefore, any equivalent changes or modifications made to the structure, features and principles described in the claims of this patent application are included within the protection scope of this patent application.

Claims

1. A flexible automatic vision-based loading and unloading system for sheet metal parts, wherein the sheet metal parts are made of a material with magnetic shielding properties, and positioning holes are formed at the flanged edges of the sheet metal parts, characterized in that... The flexible automatic vision loading and unloading system for sheet metal parts includes a pose recognition device (1) and a loading and unloading device (2); The pose recognition device (1) includes a first conveying mechanism (10), a first support (11), a first detection component (12), a second detection component (13), a lifting drive component (14), and a third detection component (15). The first support (11) is fixed above the first conveying mechanism (10), the first detection component (12) is located inside the first conveying mechanism (10) and directly below the first support (11), the top of the first support (11) is provided with a first magnetic field generating plate (16) that is vertically opposite to the first detection component (12) in a first direction, and the sides of the first support (11) are provided with a second detection component (13) and a second magnetic field generating plate (14) that are vertically opposite to the first detection component (12) in a second direction. 7) The lifting drive assembly (14) is located on the top of the first bracket (11). The output end of the lifting drive assembly (14) is provided with a third detection assembly (15) and a third magnetic field generating plate (18) at intervals. The third detection assembly (15) and the third magnetic field generating plate (18) are arranged opposite each other in a third direction. The first direction, the second direction, and the third direction are perpendicular to each other. The first detection assembly (12) includes a plurality of first magnetic detection units (102) arranged in an array. The second detection assembly (13) and the third detection assembly (15) each include a plurality of second magnetic detection units (202) arranged in an array. The loading and unloading device (2) is located outside the discharge end of the first conveying mechanism (10). It also includes a control unit (3) and a second conveying mechanism (4). The control unit (3) is electrically connected to the pose recognition device (1), the loading and unloading device (2), and the second conveying mechanism (4). The second conveying mechanism (4) is located outside the discharge end of the first conveying mechanism (10). The loading and unloading device (2) is located between the first conveying mechanism (10) and the second conveying mechanism (4). During operation, the control unit (3) stores the first reference coordinate information of the sheet metal part and the second reference coordinate information of the positioning hole. The first magnetic detection unit (102) and the second magnetic detection unit (202) on the first detection component (12), the second detection component (13) and the third detection component (15) corresponding to the position of the sheet metal part output high-level electrical signals to the control unit (3) respectively due to magnetic shielding. At the same time, due to magnetic leakage at the positioning hole of the sheet metal part, the first magnetic detection unit (102) and the second magnetic detection unit (202) corresponding to the positioning hole output low-level electrical signals to the control unit (3) respectively. The control unit (3) obtains the current first coordinate information of the sheet metal part and the current second coordinate information of the positioning hole based on the high and low level electrical signals generated by each first magnetic detection unit (102) and second magnetic detection unit (202). Then, the control unit (3) compares and analyzes the current first coordinate information and the current second coordinate information of the sheet metal part with the first reference coordinate information and the second reference coordinate information to obtain the pose information and deflection position information of the sheet metal part.

2. The sheet metal flexible automatic vision loading and unloading system according to claim 1, characterized in that, The first detection component (12) includes a first detection body (101), and a plurality of first magnetic detection units (102) are arrayed on the first detection body (101). Each first magnetic detection unit (102) includes a first liquid cylinder (1021), a first electrode (1022) and a first ferromagnetic slider (1023). One end of the first liquid cylinder (1021) is fixed on the first detection body (101), the first ferromagnetic slider (1023) is disposed inside the first liquid cylinder (1021), and the first electrode (1022) is disposed at the other end of the first liquid cylinder (1021). The first electrode (1022) and the first ferromagnetic slider (1023) form a set of parallel plate capacitors.

3. The sheet metal flexible automatic vision loading and unloading system according to claim 2, characterized in that, The first liquid cylinder (1021) is filled with liquid, and the first ferromagnetic slider (1023) is suspended in the liquid.

4. The sheet metal flexible automatic vision loading and unloading system according to claim 1, characterized in that, Both the second detection component (13) and the third detection component (15) include a second detection body (201). A plurality of second magnetic detection units (202) are arrayed on the second detection body (201). Each second magnetic detection unit (202) includes a second liquid cylinder (2021), a second electrode (2022), a second ferromagnetic slider (2023), and a first permanent magnet (2024). One end of the second liquid cylinder (2021) is fixed on the second detection body (201). The first permanent magnet (2024) is located at one end of the second liquid cylinder (2021). The second ferromagnetic slider (2023) is located inside the second liquid cylinder (2021). The second electrode (2022) is located at the other end of the second liquid cylinder (2021). The second electrode (2022) and the second ferromagnetic slider (2023) form a set of parallel plate capacitors.

5. The sheet metal flexible automatic vision loading and unloading system according to claim 1, characterized in that, The lifting drive assembly (14) includes a second bracket (141), a sliding bracket (142), and a lifting push rod (143). The second bracket (141) is fixed to the top of the first bracket (11). The lifting push rod (143) is installed on the top of the second bracket (141). The two ends of the sliding bracket (142) are respectively slidably connected to the second bracket (141). Both ends of the sliding bracket (142) movably pass through the second bracket (141). The middle part of the sliding bracket (142) is connected to the output end of the lifting push rod (143). The third detection assembly (15) and the third magnetic field generating plate (18) are respectively installed at the two ends of the sliding bracket (142).

6. The sheet metal flexible automatic vision loading and unloading system according to claim 2, characterized in that, The pose recognition device (1) further includes a fourth detection component (19), which is located inside the first conveying mechanism (10) and at the discharge end of the first conveying mechanism (10). The structure of the fourth detection component (19) is the same as that of the first detection component (12). The loading and unloading device (2) includes a robotic arm (21) and a gripping mechanism (22) fixedly installed on the robotic arm (21). The gripping mechanism (22) includes a clamp body (221), an electromagnetic chuck is provided in the middle of the clamp body (221), and a first positioning unit (222) and a second positioning unit (223) are provided at both ends of the clamp body (221). The first positioning unit (222) and the second positioning unit (223) are provided with positioning pins (301), and the positioning pins (301) are provided with second permanent magnets (302).

7. The sheet metal flexible automatic vision loading and unloading system according to claim 6, characterized in that, The first positioning unit (222) includes a third bracket (2221), a first push rod (2222), and a sliding plate (2223). One end of the third bracket (2221) is fixedly connected to the clamp body (221), the first push rod (2222) is fixedly installed on the other end of the third bracket (2221), and the sliding plate (2223) is slidably connected to the other end of the third bracket (2221) and connected to the output end of the first push rod (2222). A positioning pin (301) is protruding on the sliding plate (2223).

8. The sheet metal flexible automatic vision loading and unloading system according to claim 6, characterized in that, The second positioning unit (223) includes a fourth bracket (2231), a second push rod (2232), and a positioning head (2233). One end of the fourth bracket (2231) is fixedly connected to the clamp body (221), the second push rod (2232) is fixedly installed on the other end of the fourth bracket (2231), and the positioning head (2233) is slidably connected to the other end of the fourth bracket (2231) and connected to the output end of the second push rod (2232). A positioning pin (301) is protruding on the positioning head (2233).

9. A loading and unloading method for a flexible automatic vision loading and unloading system for sheet metal parts as described in any one of claims 1-8, characterized in that, Includes the following steps: S100: The control unit (3) stores the first reference coordinate information of the sheet metal part and the second reference coordinate information of the positioning hole. The sheet metal part is placed at the feeding end of the first conveying mechanism (10) from the upstream material direction. The first conveying mechanism (10) conveys the sheet metal part to its discharge end along the third direction. S200: After the sheet metal part is fully inserted into the area below the first bracket (11), the lifting drive assembly drives the third magnetic field generating plate (18) and the third detection assembly (15) to descend along the first direction to contact the top surface of the first conveying mechanism (10). The sheet metal part is located in the closed space formed by the first conveying mechanism (10), the second magnetic field generating plate (17), the first magnetic field generating plate (16), the second detection assembly (13), the third magnetic field generating plate (18), and the third detection assembly (15). S300: Since the sheet metal parts have a shielding effect on the magnetic field, the first magnetic detection unit (102) and the second magnetic detection unit (202) on the first detection component (12), the second detection component (13) and the third detection component (15) corresponding to the position of the sheet metal parts respectively output high-level electrical signals to the control unit (3) due to the magnetic field shielding. Due to magnetic leakage at the positioning hole of the sheet metal part, the first magnetic detection unit (102) and the second magnetic detection unit (202) corresponding to the positioning hole output low-level electrical signals to the control unit (3) respectively. S400: The control unit (3) obtains the current first coordinate information of the sheet metal part and the current second coordinate information of the positioning hole based on the high and low level electrical signals generated by each first magnetic detection unit (102) and second magnetic detection unit (202). S500: The control unit (3) compares and analyzes the current first coordinate information and current second coordinate information of the sheet metal part with the first reference coordinate information and the second reference coordinate information to obtain the pose information and deflection position information of the sheet metal part. S600: After the information acquisition is completed, the lifting drive component drives the third magnetic field generating plate (18) and the third detection component (15) to move upward along the first direction. The first conveying mechanism (10) drives the sheet metal part after information acquisition to move along the third direction, so that the sheet metal part after information acquisition is located at the gripping position of the discharge end of the first conveying mechanism (10). The control unit (3) obtains the current third coordinate information of the sheet metal part and the current fourth coordinate information of the positioning hole. S700: Control unit (3) controls loading and unloading device (2) to grab the sheet metal part onto the second conveying mechanism (4) based on the sheet metal part's pose information, deflection position information, current third coordinate information of the sheet metal part, and current fourth coordinate information of the positioning hole, and then the second conveying mechanism (4) transmits it to the downstream process.

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