Visual positioning device and auxiliary material frame turnover workpiece continuous processing method

Abstract

The application discloses a visual positioning device and a method for continuously processing workpieces in auxiliary material frame turnover, and belongs to the field of visual positioning device and workpiece processing. The visual positioning device comprises a visual positioning device frame, at least one crossbeam, a double-station motion mechanism and a visual camera light source component. The crossbeam covers a first visual positioning point and a second visual positioning point. The double-station motion mechanism is arranged on the crossbeam and can translate along the crossbeam. The visual camera light source component is arranged on the double-station motion mechanism and can implement visual positioning on the workpiece at the first visual positioning point or the second visual positioning point. The visual positioning device solves the problem that there is a waiting time interval between the last workpiece and the first workpiece of the next frame in the original taking and original placing condition, and realizes continuous processing of the material frame workpiece. The visual positioning device realizes auxiliary positioning of a single visual camera on a double-material frame station, has a simple and reliable structure, and is relatively lower in cost.

Description

Technical Field

[0001] This invention relates to the technical field of robot vision positioning, specifically to a vision positioning device and an auxiliary material frame turnover method for continuous processing of workpieces. Background Technology

[0002] In automated manufacturing, standard material boxes are commonly used as storage and turnover equipment. Various intelligent logistics transport devices move these boxes to the loading stations for each processing step. Robots then pick up workpieces from the standard material boxes and transfer them to the processing stations for processing. After processing, the workpieces are returned to the material boxes for further turnover, until the final workpiece is finished. A typical intelligent material box turnover continuous processing production line generally includes robots, workpiece grippers, vision positioning devices, machine tools, infeed and outfeed roller conveyors, auxiliary process equipment, safety barriers, and electrical control systems. The general process for continuous processing of workpieces using material boxes is as follows: the material box is moved from the infeed roller conveyor to the robot's gripping position and fixed. After positioning with the assistance of the vision device, the robot uses its workpiece gripper to pick up the workpiece from the positioning point and transfer it to the machine tool for processing. After processing, the workpiece is returned to the turnover material box and discharged from the outfeed roller conveyor, completing the entire intelligent material box turnover continuous processing process.

[0003] In traditional manufacturing industries, the transfer of standard material boxes and the loading and unloading of workpieces are mainly carried out manually or semi-automatically through a combination of human and machine methods. This is labor-intensive and inefficient. With the widespread application of robotics technology, robots can clamp and transfer workpieces in the material boxes, which can improve efficiency and reduce the intensity of manual labor. However, in general continuous processing production lines for material box turnover workpieces, the repeatability of the material box turnover workpieces is low. The gripping and placement are prone to empty clamping, mis-clamping, and failure to return the workpieces. In addition, when the material box turnover workpieces are picked up and placed in the same place, there is an interval between the last workpiece and the first workpiece of the next box, which cannot achieve continuous processing. Vision can only achieve fixed-station auxiliary positioning. Multiple material box stations require multiple vision positioning, resulting in higher costs. Summary of the Invention

[0004] The present invention provides a visual positioning device and an auxiliary material frame turnover continuous processing method using the visual positioning device, which is used to solve the problem of the interval waiting time between the last workpiece in the first material frame and the first workpiece in the second material frame.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A visual positioning device, comprising:

[0007] A visual positioning device frame, wherein the visual positioning device frame has at least one crossbeam, the crossbeam covering a first visual positioning point and a second visual positioning point.

[0008] A dual-position motion mechanism mounted on the crossbeam and capable of translating along the crossbeam;

[0009] And a vision camera light source component disposed on the dual-station motion mechanism, wherein the vision camera light source component performs visual positioning on the workpiece at the first vision positioning point or the second vision positioning point.

[0010] The aforementioned visual positioning device, wherein the visual positioning device frame comprises:

[0011] The frame is fixed to the base;

[0012] An n-shaped visual support fixed to the fixed feet of the frame;

[0013] A motion mechanism mounting plate fixed to the upper surface of the crossbeam of the vision support;

[0014] A mechanism mounting plate fixed to the motion mechanism mounting plate;

[0015] The mechanism mounting plate is arranged in a direction parallel to the crossbeam and located on the side of the crossbeam.

[0016] The aforementioned visual positioning device, wherein the dual-station motion mechanism includes:

[0017] A cylinder mounting bracket fixed to the mounting plate of the mechanism;

[0018] A rodless cylinder mounted on the cylinder mounting bracket;

[0019] Guide rails are arranged parallel to the crossbeam and fixed to the mechanism mounting plate;

[0020] A slider that matches the guide rail.

[0021] The aforementioned visual positioning device, wherein the dual-station motion mechanism further includes:

[0022] Cable chain mounting plate fixed to the vision support; and

[0023] A cable drag chain with one end fixedly connected to the drag chain mounting plate.

[0024] The aforementioned visual positioning device, wherein the dual-station motion mechanism further includes:

[0025] Electrical mounting bracket fixed to the vision support;

[0026] Electrical box and control solenoid valve mounted on the electrical mounting bracket.

[0027] The aforementioned visual positioning device, wherein the visual camera light source component includes:

[0028] A light source fixing bracket is connected to the slider and the rodless cylinder respectively;

[0029] A light source bracket fixing plate, a light source bracket mirror fixing plate, and a cylinder connecting plate are fixed on the light source fixing bracket, wherein the cylinder connecting plate connects the light source fixing bracket and the rodless cylinder;

[0030] A vision camera is connected to the light source mounting bracket via a camera mounting bracket;

[0031] A strip light source connected to the light source mounting bracket via a light source mounting plate.

[0032] The aforementioned visual positioning device, wherein the visual camera light source component further includes:

[0033] A cable fixing bracket is fixedly connected to the cylinder connecting plate, wherein the other end of the cable drag chain is connected to the cable fixing bracket.

[0034] A method for continuous processing of auxiliary material frame turnover workpieces, wherein the visual positioning device described in any one of the above-mentioned methods is used, and the method for continuous processing of auxiliary material frame turnover workpieces includes:

[0035] S1: The first material frame enters the first visual positioning point, and the second material frame enters the feeding point;

[0036] S2: The vision camera light source component performs visual positioning on the first material frame and processes the workpiece in the first material frame;

[0037] S3: The first material frame enters the second visual positioning point, and the visual camera light source component follows and moves to the second visual positioning point to perform visual positioning on the first material frame, and the second material frame enters the first visual positioning point;

[0038] S4: Place the processed workpiece back into the first material frame;

[0039] S5: The vision camera light source component moves to the first vision positioning point to perform vision positioning on the second material frame and process the workpiece in the second material frame.

[0040] The above-mentioned method for continuous processing of auxiliary material frame turnover workpieces includes:

[0041] S6: The third material frame enters the feeding point, the first material frame enters the discharging point, the second material frame enters the second visual positioning point, the visual camera light source component follows and moves to the second visual positioning point to perform visual positioning on the first material frame, and the third material frame enters the first visual positioning point.

[0042] The present invention, by employing the above-mentioned technology, has the following positive effects compared with the prior art:

[0043] The visual positioning device and its auxiliary continuous processing method for workpieces in a material frame of the present invention can solve the problem of low repeatability positioning accuracy of workpieces in a material frame. Through visual-assisted positioning, the robot can accurately position the workpieces in the material frame, enabling the robot to smoothly grasp and place the workpieces. At the same time, the visual positioning device solves the problem of the waiting time between the last workpiece and the first workpiece of the next frame when the workpieces in the material frame are picked up and placed in the same place, thus realizing continuous processing of workpieces in the material frame. The visual positioning device realizes the auxiliary positioning of a single vision camera for a double material frame station, with a simple and reliable structure and relatively lower cost. Attached Figure Description

[0044] Figure 1 This is a schematic diagram of the visual positioning device of the present invention.

[0045] Figure 2 This is a front view schematic diagram of the visual positioning device of the present invention.

[0046] Figure 3 This is a side view of the visual positioning device of the present invention.

[0047] Figure 4 This is a top view schematic diagram of the visual positioning device of the present invention.

[0048] Figure 5 This is a schematic diagram of the first visual positioning point of the visual positioning device of the present invention.

[0049] Figure 6 This is a schematic diagram of the second visual positioning point of the visual positioning device of the present invention.

[0050] Figure 7 This is a schematic diagram of the continuous processing method for the auxiliary material frame turnover workpiece of the visual positioning device of the present invention.

[0051] Figure 8 This is a schematic diagram of the workstation for the continuous processing method of the auxiliary material frame turnover workpiece of the visual positioning device of the present invention.

[0052] The markings in the accompanying drawings include:

[0053] 1. Vision positioning device frame; 11. Motion mechanism mounting plate; 12. Frame fixing feet; 13. Vision bracket; 14. Mechanism mounting plate; 2. Dual-station motion mechanism; 21. Electrical box; 22. Cable drag chain; 23. Rodless cylinder; 24. Cylinder fixing bracket; 25. Guide rail; 26. Slider; 27. Control solenoid valve; 28. Electrical mounting bracket; 29. ​​Cable drag chain mounting plate; 3. Vision camera light source components; 31. Cylinder connecting plate; 32. Cable fixing bracket; 33. Light source mounting plate; 34. Strip light source; 35. Light source bracket fixing plate; 36. Vision camera; 37. Camera fixing bracket; 38. Light source fixing bracket; 39. Light source bracket mirror fixing plate. Detailed Implementation

[0054] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0055] In the description of this invention, it should be understood that the orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "lateral", and "vertical" are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or component referred to must have a specific orientation, and therefore should not be construed as a limitation of this invention.

[0056] It should be noted that the terms "horizontal" and "vertical" in this invention are used to describe approximate positional relationships, and not strictly "horizontal plane" or "vertical plane".

[0057] Please see Figures 1 to 8 The diagram illustrates a preferred embodiment of a visual positioning device, comprising: a visual positioning device frame 1, the visual positioning device frame 1 having at least one crossbeam covering a first visual positioning point and a second visual positioning point; a dual-station motion mechanism 2 disposed on the crossbeam and capable of translating along the crossbeam; and a visual camera light source component 3 disposed on the dual-station motion mechanism 2, wherein the visual camera light source component 3 performs visual positioning on the workpiece at the first visual positioning point or the second visual positioning point.

[0058] The visual positioning device frame 1 is used to mount the fixed dual-station motion mechanism 2, and the visual camera light source component 3 is arranged on the dual-station motion mechanism 2. The visual camera light source component 3 has a visual camera for providing vision and a light source for providing illumination.

[0059] The vision camera light source component 3 performs vision photography to assist in positioning the workpiece within the material frame. When the environment is dark, the light source assists the vision camera in taking pictures.

[0060] Furthermore, as a preferred embodiment, the visual positioning device frame 1 includes: a frame fixing foot 12; an n-shaped visual support 13 fixed to the frame fixing foot 12; a motion mechanism hanging plate 11 fixed to the upper surface of the crossbeam of the visual support 13; and a mechanism mounting plate 14 fixed to the motion mechanism hanging plate 11.

[0061] Furthermore, as a preferred embodiment, the mechanism mounting plate 14 is arranged in a direction parallel to the crossbeam and located on the side of the crossbeam.

[0062] Furthermore, as a preferred embodiment, the dual-station motion mechanism 2 includes:

[0063] A cylinder mounting bracket 24 fixed to the mechanism mounting plate 14; a rodless cylinder 23 mounted on the cylinder mounting bracket 24; a guide rail 25 arranged parallel to the crossbeam and fixed to the mechanism mounting plate 14; and a slider 26 matching the guide rail 25.

[0064] Furthermore, as a preferred embodiment, the dual-station motion mechanism 2 also includes: a cable chain mounting plate 29 fixed on the vision bracket 13; and a cable cable 22 with one end fixedly connected to the cable chain mounting plate 29.

[0065] Furthermore, as a preferred embodiment, the dual-station motion mechanism 2 also includes: an electrical mounting bracket 28 fixed on the vision bracket 13; an electrical box 21 and a control solenoid valve 27 mounted on the electrical mounting bracket 28.

[0066] Furthermore, as a preferred embodiment, the visual camera light source component 3 includes: a light source fixing bracket 38 connected to the slider 26 and the rodless cylinder 23 respectively; a light source bracket fixing plate 35, a light source bracket mirror fixing plate 39, and a cylinder connecting plate 31 fixed on the light source fixing bracket 38.

[0067] Furthermore, in a preferred embodiment, the cylinder connecting plate 31 connects the light source fixing bracket 38 and the rodless cylinder 23.

[0068] Furthermore, as a preferred embodiment, the visual camera light source component 3 includes a visual camera 36 connected to the light source fixing bracket 38 via a camera fixing bracket 37.

[0069] Furthermore, as a preferred embodiment, the visual camera light source component 3 includes a strip light source 34 connected to the light source fixing bracket 38 via a light source mounting plate 33.

[0070] Furthermore, as a preferred embodiment, the visual camera light source component 3 also includes a cable fixing bracket 32 ​​fixedly connected to the cylinder connecting plate 31, wherein the other end of the cable drag chain 22 is connected to the cable fixing bracket 32.

[0071] This invention provides a method for continuous processing of workpieces using an auxiliary material frame, comprising:

[0072] S1: The first material frame enters the first visual positioning point, and the second material frame enters the feeding point;

[0073] S2: The vision camera light source component performs visual positioning on the first material frame and processes the workpiece in the first material frame;

[0074] S3: The first material frame enters the second visual positioning point, and the visual camera light source component follows and moves to the second visual positioning point to perform visual positioning on the first material frame. The second material frame enters the first visual positioning point.

[0075] S4: Place the finished workpiece back into the first material frame;

[0076] S5: The vision camera light source component moves to the first vision positioning point to perform vision positioning on the second material frame and process the workpiece in the second material frame;

[0077] S6: The third material frame enters the feeding point, the first material frame enters the discharging point, the second material frame enters the second visual positioning point, the visual camera light source component follows and moves to the second visual positioning point to perform visual positioning on the second material frame, and the third material frame enters the first visual positioning point.

[0078] More specifically, the present invention provides a method for continuous processing of workpieces with auxiliary material frame turnover, which employs the aforementioned vision positioning device, wherein please refer to... Figure 7 , Figure 8 As shown, the crossbeam of the visual positioning device frame 1 extends between the first visual positioning point B and the second visual positioning point C, and carries the visual camera light source component 3 to move back and forth above the first visual positioning point B and the second visual positioning point C through the dual-station motion mechanism 2.

[0079] Furthermore, it also involves the feed inlet A located on one side of the first visual positioning point B, and the discharge outlet D located on one side of the second visual positioning point C.

[0080] Furthermore, the feed point A, the first visual positioning point B, the second visual positioning point C, and the discharge point D are arranged in a rectangular array.

[0081] The auxiliary material frame turnover workpiece continuous processing method in this embodiment includes:

[0082] A1: The first material frame enters the first visual positioning point B, and the second material frame enters the feeding point A;

[0083] A2: The vision camera light source component performs visual positioning on the first material frame, and the robot processes multiple workpieces in the first material frame sequentially;

[0084] A3: When the robot processes the last workpiece in the first material frame, the robot grabs the last workpiece in the first material frame, the first material frame enters the second visual positioning point C, the visual camera light source component follows and moves to the second visual positioning point C to perform visual positioning on the first material frame, and the second material frame enters the first visual positioning point B.

[0085] A4: The robot returns the last workpiece in the first material frame to the first material frame after processing;

[0086] A5. The visual camera light source component moves to the first visual positioning point B to perform visual positioning on the second material frame, and the robot processes multiple workpieces in the second material frame in sequence.

[0087] A6. The third material frame enters the feeding point A, the first material frame enters the discharging point D, the second material frame enters the second visual positioning point C, the visual camera light source component follows and moves to the second visual positioning point C to perform visual positioning on the second material frame, and the third material frame enters the first visual positioning point B.

[0088] In this embodiment, the processes of "the first material frame moving from the first visual positioning point B to the second visual positioning point C", "the second material frame moving from the feed point A to the first visual positioning point B", and "processing the last workpiece in the first material frame" are performed synchronously. After the last workpiece in the first material frame is processed, the robot can directly grab the first workpiece in the second material frame located at the first visual positioning point B for processing without additional waiting time.

[0089] Specifically, in A2, the robot picks up a workpiece from the first material frame, processes the workpiece in the first material frame, and after processing the workpiece in the first material frame, puts the workpiece back into the first material frame. The above steps are repeated until the first material frame has only one workpiece left.

[0090] Specifically, the last workpiece in the first frame is picked up, processed, and placed back into the first frame at the second visual positioning point C.

[0091] Specifically, the last workpiece in each frame is grabbed at the first visual positioning point B and placed back into the same frame at the second visual positioning point C, during which the light source component of the vision camera follows the movement of the same frame.

[0092] The above descriptions are merely embodiments of the present invention, and common knowledge such as specific technical solutions and / or characteristics are not described in detail here. It should be noted that those skilled in the art can make various modifications and improvements without departing from the technical solutions of the present invention, and these should also be considered within the scope of protection of the present invention. These modifications and improvements will not affect the effectiveness of the implementation of the present invention or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A visual positioning device, characterized in that, include: A visual positioning device frame, wherein the visual positioning device frame has at least one crossbeam, the crossbeam covering a first visual positioning point and a second visual positioning point. A dual-position motion mechanism mounted on the crossbeam and capable of translating along the crossbeam; And a vision camera light source component disposed on the dual-station motion mechanism, wherein the vision camera light source component performs visual positioning on the workpiece at the first vision positioning point or the second vision positioning point; The material frame passes through the first visual positioning point and the second visual positioning point in sequence. The material frame is configured to carry the workpiece. When the material frame enters the second visual positioning point from the first visual positioning point, the visual camera light source component moves along with it to the second visual positioning point to perform visual positioning on the material frame.

2. The visual positioning device according to claim 1, characterized in that, The visual positioning device frame includes: The frame is fixed to the base; An n-shaped visual support fixed to the fixed feet of the frame; A motion mechanism mounting plate fixed to the upper surface of the crossbeam of the vision support; A mechanism mounting plate fixed to the motion mechanism mounting plate; The mechanism mounting plate is arranged in a direction parallel to the crossbeam and located on the side of the crossbeam.

3. The visual positioning device according to claim 2, characterized in that, The dual-station motion mechanism includes: A cylinder mounting bracket fixed to the mounting plate of the mechanism; A rodless cylinder mounted on the cylinder mounting bracket; Guide rails are arranged parallel to the crossbeam and fixed to the mechanism mounting plate; A slider that matches the guide rail.

4. The visual positioning device according to claim 3, characterized in that, The dual-station motion mechanism also includes: Cable chain mounting plate fixed to the vision support; and A cable drag chain with one end fixedly connected to the drag chain mounting plate.

5. The visual positioning device according to claim 3, characterized in that, The dual-station motion mechanism also includes: Electrical mounting bracket fixed to the vision support; Electrical box and control solenoid valve mounted on the electrical mounting bracket.

6. The visual positioning device according to claim 4, characterized in that, The visual camera light source component includes: A light source fixing bracket is connected to the slider and the rodless cylinder respectively; A light source bracket fixing plate, a light source bracket mirror fixing plate, and a cylinder connecting plate are fixed on the light source fixing bracket, wherein the cylinder connecting plate connects the light source fixing bracket and the rodless cylinder; A vision camera is connected to the light source mounting bracket via a camera mounting bracket; A strip light source connected to the light source mounting bracket via a light source mounting plate.

7. The visual positioning device according to claim 6, characterized in that, The visual camera light source component also includes: A cable fixing bracket is fixedly connected to the cylinder connecting plate, wherein the other end of the cable drag chain is connected to the cable fixing bracket.

8. A method for continuous processing of workpieces using an auxiliary material frame, characterized in that, Using the vision positioning device according to any one of claims 1 to 7, the continuous processing method for the auxiliary material frame turnover workpiece includes: S1: The first material frame enters the first visual positioning point, and the second material frame enters the feeding point; S2: The vision camera light source component performs visual positioning on the first material frame and processes the workpiece in the first material frame; S3: The first material frame enters the second visual positioning point, and the visual camera light source component follows and moves to the second visual positioning point to perform visual positioning on the first material frame, and the second material frame enters the first visual positioning point; S4: Place the processed workpiece back into the first material frame; S5: The vision camera light source component moves to the first vision positioning point to perform vision positioning on the second material frame and process the workpiece in the second material frame.

9. The method for continuous processing of auxiliary material frame turnover workpieces according to claim 8, characterized in that, include: S6: The third material frame enters the feeding point, the first material frame enters the discharging point, the second material frame enters the second visual positioning point, the visual camera light source component follows and moves to the second visual positioning point to perform visual positioning on the second material frame, and the third material frame enters the first visual positioning point.

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