A discrete workpiece identification device

Abstract

The invention discloses a discrete workpiece identification device, which relates to the field of workpiece processing and comprises a transport frame and a robot arm. The transport frame is provided with a transport chain and a light-enhancing tube body. A guide frame body is installed on the transport frame. A gripping arm mounting seat is installed on the robot arm, and a receiver is provided on the gripping arm mounting seat. Two prisms are provided on the transport chain, and one end of the prism is connected with a connector. A track frame is connected to the side wall of the transport frame, and a trigger is installed at one end of the track frame, and the trigger is connected to one end of the light-enhancing tube body. An isolation frame is installed on the transport frame, and a spraying component is installed on the isolation frame. The discrete workpiece identification device projects images of the stacked workpieces under the illumination of the light-enhancing tube body, thereby facilitating the acquisition of images of the workpieces during transportation. Then, the image of the workpiece is collected by the receiver, and the code information of the workpiece is called out. The spraying component is used for color spraying to increase the recognition clarity of the code.

Description

Technical Field

[0001] The invention relates to the technical field of workpiece processing, in particular to a discrete workpiece identification device. Background Art

[0002] In industrial manufacturing, there are discrete manufacturing and process manufacturing. Discrete manufacturing is also called processing and assembly. Most products are made of a bunch of parts, and the processing process is discrete. For example, in the machinery industry, automobile manufacturing, home appliances, electronic equipment, etc., for discrete processing, such as automobile manufacturing, for an assembly part, different workpieces will be transported to the processing position, and then they will be identified and distinguished before assembly processing.

[0003] In the existing discrete processing, the workpieces are coded and transported centrally through conveying equipment. Then, the robot arm identifies and grabs the workpieces on the transport equipment under the control of the production system. However, since the workpieces are all placed on the transport equipment in a centralized manner, the workpieces are easily stacked on each other. The chaotically stacked workpieces are likely to cause the workpiece code positions to be covered, which is not convenient for the robot arm to identify and grab. At the same time, during the transportation process, the dust layer on the surface of the stacked workpieces or the dust layer on the transport equipment is likely to adhere to the workpieces under the transportation of the transport equipment, and the code position on the workpiece surface is likely to be covered, which makes the workpiece code difficult to identify or unclear. To this end, we propose a discrete workpiece identification device. Summary of the invention

[0004] The object of the present invention is to provide a discrete workpiece identification device to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a device for identifying discrete workpieces, comprising a transport frame and a robot arm, wherein a transport chain is provided inside the transport frame, and a light-enhancing tube body for increasing the projection of the workpiece is installed on the transport chain, a guide frame body is installed at one end of the transport frame, and a collection camera is installed on the guide frame body, a gripping arm mounting seat is installed on the robot arm, and a receiver that can receive the projection of the light-enhancing tube body is installed on the top of the gripping arm mounting seat, and an identification camera is provided at the bottom of the gripping arm mounting seat; two prisms are respectively provided on both sides of the transport chain, and a connector is connected to one end of the prism, a track frame is connected to the side wall of the transport frame, and the connector slides on the track frame, a trigger member is installed at one end of the track frame, and the trigger member is connected to one end of the light-enhancing tube body; an isolation frame is installed on the transport frame, and a spray assembly is installed on the isolation frame.

[0006] Preferably, the upper portion of the prism is an arc transition, and the lower portion of the prism is distributed between two adjacent light-enhancing tube bodies.

[0007] Preferably, the connector is an inverted U-shaped tube, whose arc transition section is distributed on the transport frame, and the other end of the connector is connected to a wedge-shaped slider, a wedge-shaped slope is provided inside the track frame, and the wedge-shaped slider slides on the wedge-shaped slope.

[0008] Preferably, limiting grooves are provided on both side walls of the transport frame, and limiting rods sliding in the limiting grooves are connected to the track frame.

[0009] Preferably, the trigger member includes an electromagnetic block connected to the outside of the track frame, sliding grooves are opened on both side walls of the transport frame, a sliding rod passing through the sliding groove is connected to the electromagnetic block, and a cross-slot cap is connected to the sliding rod, a storage groove is provided inside the light-enhancing tube body, and a clamping column is provided at the storage groove, and a reset spring is connected between the clamping column and the storage groove wall, a cross clamping block engaged with the cross-slot cap is provided at the outer end of the clamping column, and a corresponding cross clamping hole is provided at the notch of the storage groove, a positioning spring is connected to one side of the electromagnetic block, a positioning block is connected to the transport frame, and one end of the positioning spring is connected to the positioning block.

[0010] Preferably, rollers are provided at both ends of the transport chain, one of the rollers is connected to a drive motor, a speed regulator is provided on the outside of the drive motor, and speed regulating gears are provided on both the drive motor and the speed regulator, and the two speed regulating gears are meshed with each other.

[0011] Preferably, the isolation frame is trapezoidal, and an isolation plate is installed on the top of the isolation frame, with a partition section on the isolation plate, trapezoidal segment tooth grooves are provided on both sides of the isolation frame, and rolling gears are meshed in the tooth grooves, a driving motor is provided on the outside of the rolling gear, the rolling gear and the driving motor are connected by a crankshaft, and one end of the crankshaft is connected to a support plate for adsorbing the workpiece.

[0012] Preferably, the spray assembly comprises a spray box installed on the top of both sides of the isolation frame, a spray head is provided on the spray box, a spray pipe is connected to the outside of the spray box, and two spray pipes are connected through a pump body.

[0013] Preferably, a recovery box is connected to the side wall of the transport frame, and one side of the recovery box is connected to the pump body, a winding wheel is connected to the transport frame, and a hose is wound on the winding wheel, one end of the hose is connected to the recovery box, and the other end of the hose is connected to an absorption ring, and the absorption ring is sleeved on the outside of the grab arm mounting seat.

[0014] Preferably, a guide wheel seat is connected to the robot arm, and the hose passes through the guide wheel seat.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] The present invention projects images of the stacked workpieces under the illumination of a light-enhancing tube, thereby facilitating obtaining images of the workpieces during transportation, and then collecting the images of the workpieces through a receiver, thereby calling out the code information of the workpieces. When the workpieces move to the prism, the effect of lifting and separating is achieved, and the stacked workpieces are separated. When the workpieces are transported and projected by the light-enhancing tube, if the displayed images cannot be recognized by the receiver, the workpieces are transported to an isolation frame and color sprayed using a spray assembly to increase the recognition clarity of the code. At the same time, a trigger component lifts the prism to temporarily block the subsequent workpieces, facilitating the color spraying of the code of the preceding workpiece.

[0017] The present invention arranges an absorption ring at the robot grasping position to absorb the color powder sprayed on the surface of the workpiece. At the same time, the speed regulator involved is conducive to adjusting the conveying speed of the transport chain, so that after the workpiece is colored, it is conveyed at the same speed as the workpiece conveying box. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 It is a side schematic diagram of the present invention;

[0020] Figure 3 This is a schematic diagram of the robot arm and the isolation frame of the present invention;

[0021] Figure 4 It is a schematic diagram of the transport frame structure of the present invention;

[0022] Figure 5 For the present invention Figure 4 Schematic diagram of the structure after the transport frame is removed;

[0023] Figure 6 It is a schematic diagram of the partial cross-section structure of the transport chain and the light-enhancing tube body of the present invention;

[0024] Figure 7 It is a schematic diagram of the structure of the triggering member of the present invention;

[0025] Figure 8 It is a structural schematic diagram of the isolation frame and the spraying assembly of the present invention;

[0026] Fig. 9 It is a schematic diagram of the structure of the spray assembly of the present invention;

[0027] Fig.10 It is a proportional schematic diagram of the sliding groove and the isolation frame of the present invention.

[0028] In the figure: 1-transport frame; 2-robot arm; 3-light-enhancing tube body; 4-guide frame body; 5-prism; 6-connector; 7-track frame; 8-trigger; 9-spraying assembly; 11-transport chain; 12-isolation frame; 13-limiting groove; 14-roller; 15-drive motor; 16-speed regulator; 17-speed regulating gear; 21-grasp arm mounting seat; 22-receiver; 41-collection camera; 61-inverted U-shaped tube; 62-wedge-shaped slider; 71-wedge-shaped slope; 72-limiting rod; 81-electromagnetic block; 82-sliding slot; 83-slide bar; 84-cross card slot cap; 85-storage slot; 86-card column; 87-reset spring; 88-positioning spring; 89-positioning block; 91-spray box; 92-spray pipe; 93-spray head; 94-pump body; 95-recovery box; 96-winding wheel; 97-hose; 98-absorption ring; 99-guide wheel seat; 121-isolation plate; 122-tooth groove; 123-rolling gear; 124-drive motor; 125-crankshaft; 126-support plate; 841-cross card block; 851-cross card hole. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] See also Figure 1-Figure 3The present invention provides a technical solution: a discrete workpiece identification device, comprising a transport frame 1 and a robot arm 2. The robot arm 2 is a six-axis robot arm, thereby increasing the flexibility of the robot arm in grabbing and transporting the workpiece. The fixing seat at the bottom of the robot arm 2 is installed on one side of the transport frame 1. The transport frame 1 is provided with a transport chain 11 inside, and a light-enhancing tube body 3 for increasing the projection of the workpiece is installed on the transport chain 11. The light-enhancing tube body 3 is set as a cylindrical tube structure, and its surface can be projected with light. The projection light irradiation surface is made of a protective light-stealing material to avoid the wear of the light-enhancing tube body 3 during the transportation process of the workpiece. The technology used by the light-enhancing tube body 3 is the existing LED and other lighting technologies. The light irradiates the workpiece to form a In order to increase the recognition degree, green, red and other lighting are used. Because the shapes of each workpiece are different, and the light source of the light-enhancing tube body 3 is emitted at a position lower than the surface of the tube body, that is, when the workpiece falls onto the light-enhancing tube body 3, the code on the surface of the workpiece is illuminated by light, and a projection of the code is formed at the position where the light source is emitted. A gripper arm mounting seat 21 is installed on the robot arm 2, and a receiver 22 that can receive the projection of the light-enhancing tube body 3 is installed on the top of the gripper arm mounting seat 21. The bottom of the gripper arm mounting seat 21 is an identification camera. When the receiver 22 receives the code projection of the light-enhancing tube body 3, it is compared with the data in the production control system. The production control system is the system adopted by each factory production, and no distinction is made here.

[0031] Reference Figure 1 A guide frame 4 is installed at one end of the transport frame 1, and a collection camera 41 is installed on the guide frame 4. The guide frame 4 is inclined in design, with an upper part being a closed frame and a lower part being open. When the workpiece is placed into the guide frame 4, it slides along the slope of the guide frame 4 to the surface of the transport chain 11. Because a plate for separating the workpieces is provided inside the guide frame 4, the concentrated workpieces are preliminarily separated. At the same time, the collection camera 41 installed on the guide frame 4 performs preliminary image collection on the placed workpieces, and the collected images and the code projection at the projection of the light-enhancing tube body 3 are concentratedly received by the receiver 22. The collection camera 41 and the receiver 22 here receive signals by wireless signal transmission or wired electrical signal transmission, which are both existing technologies, so they will not be introduced in detail. At the same time, the receiver 22 receives the light projection signal, that is, the image formed by the light projection is collected by the receiver 22 through its video recording function.

[0032] For stacking of workpieces or when subsequent workpieces need to be blocked, refer to the attached Figure 6 and attached Figure 7Two prisms 5 are respectively provided on both sides of the transport chain 11, and one end of the prism 5 is connected to a connector 6, the side wall of the transport frame 1 is connected to a track frame 7, and the connector 6 slides in the track frame 7, a trigger member 8 is installed at one end of the track frame 7, and the trigger member 8 is connected to one end of the light-enhancing tube body 3; the upper part of the prism 5 is an arc transition, and the lower part of the prism 5 is distributed between two adjacent light-enhancing tube bodies 3.

[0033] The connector 6 is an inverted U-shaped tube 61 , whose arc transition section is distributed on the transport frame 1 , and the other end of the connector 6 is connected to a wedge-shaped slider 62 . A wedge-shaped slope 71 is provided inside the track frame 7 , and the wedge-shaped slider 62 slides on the wedge-shaped slope 71 .

[0034] Limiting grooves 13 are provided on both side walls of the transport frame 1 , and the track frame 7 is connected with limiting rods 72 that slide in the limiting grooves 13 .

[0035] The trigger member 8 includes an electromagnetic block 81 connected to the outside of the track frame 7, and sliding grooves 82 are opened on the two side walls of the transport frame 1. The electromagnetic block 81 is connected to a slide rod 83 passing through the sliding groove 82, and the slide rod 83 is connected to a cross slot cap 84. A storage groove 85 is provided inside the light-enhancing tube body 3, and a clamping column 86 is provided at the storage groove 85. The clamping column 86 is made of metal, and a reset spring 87 is connected between the clamping column 86 and the wall of the storage groove 85. The outer end of the clamping column 86 is provided with a cross clamping block 841 that engages with the cross slot cap 84, and the notch of the storage groove 85 is provided with a corresponding cross clamping hole 851. A positioning spring 88 is connected to one side of the electromagnetic block 81, and a positioning block 89 is connected to the transport frame 1, and one end of the positioning spring 88 is connected to the positioning block 89.

[0036] Rollers 14 are provided at both ends of the transport chain 11, one of the rollers 14 is connected to a drive motor 15, a speed regulator 16 is provided outside the drive motor 15, and a speed regulating gear 17 is provided on both the drive motor 15 and the speed regulator 16, and the two speed regulating gears 17 are meshed with each other.

[0037] When the workpiece passes through the prism 5, the bottom of the prism 5 is higher than the light-enhancing tube 3, so that the light-enhancing tube 3 can pass through easily. Since the top of the prism 5 is designed as an arc transition, when the workpiece passes over the prism 5, a shaking process is formed. For the transportation of a single workpiece, it will not affect it. For stacked workpieces, when they pass through the prism 5, they will be shaken to separate the stacked workpieces, which is conducive to the light-enhancing tube 3 to project light on them. When the projected code is blurred, it is necessary to add color powder to it, so as to increase the projection clarity of the code, which is convenient for the recognition camera of the grabbing position of the robot arm 2 to recognize it. When it is necessary to add color powder, it is necessary to adjust the transport chain 1. 1 is used for speed regulation, so as to keep the workpiece with the color-developing powder added being transported to the robot arm 2 at the transmission rate. At this time, the electromagnet is energized, and the clamping column 86 inserted in the storage slot 85 is sucked by the electromagnetic block 81, and the cross clamping block 841 is engaged with the cross clamping slot cap 84. Through the transportation of the transport chain 11, it is convenient for the electromagnetic block 81 to pull the track frame 7 to slide along the limit groove 13. At this time, the wedge-shaped slider 62 slides along the wedge-shaped slope 71, so that the prism 5 gradually rises upward, which is convenient for temporarily blocking the subsequent workpiece. After the workpiece is sprayed, the electromagnetic block 81 is powered off, and under the action of the positioning spring 88, the track frame 7 and the electromagnetic block 81 return to their original positions. Figure 1 and attached Figure 2 It can be seen that the length of the limit groove 13 is the same as the length of the sliding groove 82, the sliding groove 82 and the hypotenuse of the isolation frame 12 form a right triangle, and the isolation frame 12 is designed to be an isosceles trapezoid, that is, the sliding groove 82 and the hypotenuse of the isolation frame 12 form a right triangle with an acute angle of 30°, so the length of the sliding groove 82 is the length of the hypotenuse of the isolation frame 12 × COS30°, as shown in the attached Fig.10 As shown, when spraying is completely completed, the sprayed workpiece slides down and is transported, and the subsequent workpiece can just keep up.

[0038] An isolation frame 12 is installed on the transport frame 1, and a spray assembly 9 is installed on the isolation frame 12. The isolation frame 12 is trapezoidal, and an isolation plate 121 is installed on the top of the isolation frame 12, and there is a partition section on the isolation plate 121. The two sides of the isolation frame 12 are provided with tooth grooves 122 of trapezoidal sections, and rolling gears 123 are meshed in the tooth grooves 122. A driving motor 124 is provided outside the rolling gear 123. The rolling gear 123 and the driving motor 124 are connected to a crankshaft 125, and one end of the crankshaft 125 is connected to a support plate 126 for adsorbing workpieces.

[0039] The spray assembly 9 includes a spray box 91 installed on the top of both sides of the isolation frame 12 . A spray head 93 is provided on the spray box 91 . A spray pipe 92 is connected to the outside of the spray box 91 , and two spray pipes 92 are connected through a pump body 94 .

[0040] A recovery box 95 is connected to the side wall of the transport frame 1, and one side of the recovery box 95 is connected to the pump body 94. A reel 96 is connected to the transport frame 1, and a hose 97 is reeled on the reel 96. One end of the hose 97 is connected to the recovery box 95, and the other end of the hose 97 is connected to an absorption ring 98, and the absorption ring 98 is sleeved on the outside of the gripper arm mounting seat 21. A guide wheel seat 99 is connected to the robot arm 2, and the hose 97 passes through the guide wheel seat 99.

[0041] When the workpiece needs to be sprayed, the driving motor 124 is started to make the rolling gear 123 rotate along the tooth groove 122. The support plate 126 here is made of magnetic material, which is convenient for adsorbing metal workpieces. For other workpieces, clamping or adhesion materials can be used. When the workpiece is transported to the isolation plate 121, the pump body 94 acts to spray the brightening powder onto the surface of the workpiece. When it is transported to the robot arm 2 for grasping, the recognition camera installed on the robot arm 2 identifies the workpiece. The brightening powder sprayed on the surface of the workpiece is absorbed by the absorption ring 98 and stored in the recovery box 95 for recycling. At the same time, an elastic tube body is installed between the recovery box 95 and the hose 97, which can be stretched.

[0042] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0043] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A discrete workpiece identification device, comprising a transport frame (1) and a robot arm (2), characterized in that: The transport frame (1) is provided with a transport chain (11) inside, and a light-enhancing tube (3) for increasing the projection of the workpiece is installed on the transport chain (11); a guide frame (4) is installed at one end of the transport frame (1), and a collection camera (41) is installed on the guide frame (4); a gripping arm mounting seat (21) is installed on the robot arm (2), and a receiver (22) for receiving the projection of the light-enhancing tube (3) is installed on the top of the gripping arm mounting seat (21); and an identification camera is installed at the bottom of the gripping arm mounting seat (21); Two prisms (5) are respectively provided on both sides of the transport chain (11), and one end of the prism (5) is connected to a connector (6); a side wall of the transport frame (1) is connected to a track frame (7), and the connector (6) slides on the track frame (7); a trigger member (8) is installed at one end of the track frame (7), and the trigger member (8) is connected to one end of the light-enhancing tube body (3); An isolation frame (12) is installed on the transport frame (1), and a spraying assembly (9) is installed on the isolation frame (12); The connecting body (6) is an inverted U-shaped tube (61), the arc transition section of which is distributed on the transport frame (1), and the other end of the connecting body (6) is connected to a wedge-shaped slider (62), the track frame (7) is provided with a wedge-shaped slope surface (71) inside, and the wedge-shaped slider (62) slides on the wedge-shaped slope surface (71); Limiting grooves (13) are provided on both side walls of the transport frame (1), and limiting rods (72) are connected to the track frame (7) and slide in the limiting grooves (13); The trigger member (8) comprises an electromagnetic block (81) connected to the outside of the track frame (7); sliding grooves (82) are provided on both side walls of the transport frame (1); a slide rod (83) passing through the slide groove (82) is connected to the electromagnetic block (81); and a cross-slot cap (84) is connected to the slide rod (83); a receiving groove (85) is provided inside the light-enhancing tube body (3); a clamping column (86) is provided at the receiving groove (85); and a return spring (87) is connected between the clamping column (86) and the wall of the receiving groove (85); a cross-clamping block (841) clamped with the cross-clamping cap (84) is provided at the outer end of the clamping column (86); and a corresponding cross-clamping hole (851) is provided at the notch of the receiving groove (85); a positioning spring (88) is connected to one side of the electromagnetic block (81); a positioning block (89) is connected to the transport frame (1); and one end of the positioning spring (88) is connected to the positioning block (89); The isolation frame (12) is trapezoidal, and an isolation plate (121) is installed on the top of the isolation frame (12), and a partition section is provided on the isolation plate (121). Trapezoidal tooth grooves (122) are provided on both sides of the isolation frame (12), and rolling gears (123) are meshed in the tooth grooves (122). A driving motor (124) is provided outside the rolling gear (123). A crankshaft (125) is connected to the rolling gear (123) and the driving motor (124), and one end of the crankshaft (125) is connected to a support plate (126) for adsorbing workpieces.

2. The discrete workpiece identification device according to claim 1, characterized in that: The upper part of the prism (5) is an arc transition, and the lower part of the prism (5) is distributed between two adjacent light-enhancing tube bodies (3).

3. The discrete workpiece identification device according to claim 1, characterized in that: Rollers (14) are respectively provided at both ends of the transport chain (11), one of the rollers (14) is connected to a drive motor (15), a speed regulator (16) is provided on the outside of the drive motor (15), and a speed regulating gear (17) is sleeved on both the drive motor (15) and the speed regulating gear (16), and the two speed regulating gears (17) are meshed with each other.

4. The discrete workpiece identification device according to claim 3, characterized in that: The spray assembly (9) comprises a spray box (91) mounted on the top of both sides of the isolation frame (12), a spray head (93) being provided on the spray box (91), a spray pipe (92) being connected to the outside of the spray box (91), and two spray pipes (92) being connected via a pump body (94).

5. The discrete workpiece identification device according to claim 4, characterized in that: A recovery box (95) is connected to the side wall of the transport frame (1), and one side of the recovery box (95) is connected to the pump body (94). A reel (96) is connected to the transport frame (1), and a hose (97) is reeled on the reel (96). One end of the hose (97) is connected to the recovery box (95), and the other end of the hose (97) is connected to an absorption ring (98), and the absorption ring (98) is sleeved on the outside of the grab arm mounting seat (21).

6. The discrete workpiece identification device according to claim 5, characterized in that: The robot arm (2) is connected to a guide wheel seat (99), and the hose (97) passes through the guide wheel seat (99).

Images