Robotic retracting and unloading system with visual coordination

Abstract

The present invention discloses a manipulator material collection and unloading system under visual coordination, which relates to the technical field of material collection and unloading, and includes a control module and a belt transmission mechanism electrically connected to the control module, a visual module, a manipulator and a sensing module, wherein the belt transmission mechanism is used to convey plates, the visual module faces the upper belt surface of the belt transmission mechanism, the sensing module includes a rotary encoder for sensing the rotation speed of the belt transmission mechanism, the operating range of the manipulator covers the upper part and the side of the belt transmission mechanism, and a lifting and stacking mechanism is arranged on the side of the belt transmission mechanism. The present application has the effect of reducing the damage to the plates during the production process.

Description

Technical Field

[0001] The present application relates to the technical field of material collection and release, and in particular to a material collection and release system of a manipulator under visual coordination. Background Art

[0002] At present, conveyor lines are mostly used to transport boards during PCB production and processing. However, because the boards often fall directly into the frame or table at the end of the conveyor line, scratches and scratches will appear on the surface of the boards. In the later stage of the process, since the boards have completed most of the process flow, the surface circuits have been formed and have undergone multiple surface treatment processes, the scratches and scratches are likely to affect the stability of the circuit structure of the boards. Therefore, the present application proposes a new technical solution. Summary of the invention

[0003] In order to reduce damage to panels during production, the present application provides a robotic arm material collection and release system with visual coordination.

[0004] The present application provides a manipulator material collection and unloading system under visual coordination, which adopts the following technical solutions:

[0005] A manipulator material collection and unloading system under visual coordination includes a control module and a belt transmission mechanism electrically connected to the control module, a visual module, a manipulator and a sensing module, the belt transmission mechanism is used to convey plates, the visual module faces the upper belt surface of the belt transmission mechanism, the sensing module includes a rotary encoder for sensing the rotation speed of the belt transmission mechanism, the operating range of the manipulator covers the upper part and the side of the belt transmission mechanism, and the control module is configured as follows:

[0006] Acquire the image data obtained by the vision module and the belt transmission speed obtained by the perception module;

[0007] Perform panel recognition and positioning on the image data, and generate position data 1 according to the timestamp;

[0008] If the robot is ready to receive the plate on the belt transmission mechanism, then:

[0009] Calculate the time difference according to the timestamp corresponding to the current time and location data;

[0010] Calculate the movement variable based on the time difference and the belt drive speed;

[0011] The position data 1 is updated according to the movement variable to obtain the position data 2, which is used to control the robot to execute the plate collecting action and the plate releasing action after the plate is collected.

[0012] Optionally, the manipulator includes a spider manipulator and a retractable device installed on the working end of the spider manipulator, the retractable device includes a structural plate, a support shaft and a retractable assembly, the structural plate has two layers and is distributed up and down, the support shaft includes a plurality of and is located between the two layers of the structural plates, the structural plate located above is fixed with an end sleeve, the upper end of the support shaft is slidably connected to the end sleeve and the lower end is fixed to the structural plate located below, a buffer spring is outerly arranged on the support shaft, the upper end of the buffer spring contacts the lower end of the end sleeve and the lower end contacts the structural plate located below, the retractable assembly includes a junction block and a suction nozzle, the junction block is connected to the structural plate below and has a hollow structure, a gas source is installed on the junction block, the suction nozzle is multiple and is installed at the bottom of the junction block, the suction nozzle is connected to the inner cavity of the junction block and has a retractable structure.

[0013] Optionally, the suction nozzle is connected to the manifold through a valve body, the valve body is electrically connected to a control module, and the control module is configured as follows:

[0014] Extract the plate image from the image data, and perform adsorption interference feature recognition and positioning to obtain the position of the adsorption interference feature;

[0015] According to the position of the adsorption interference feature and the pre-recorded positions of each nozzle, the nozzle that contacts the adsorption interference feature is found and defined as the nozzle to be shut down;

[0016] According to the identification information of the suction nozzle to be shut off, the corresponding valve body is controlled to shut off.

[0017] Optionally, the control module is configured as:

[0018] If a new suction nozzle to be shut down appears, the total suction change is calculated based on the pre-recorded suction parameters of the single suction nozzle;

[0019] If the difference between the original total suction value and the total suction change is less than the pre-recorded lower limit threshold of panel adsorption, a single suction nozzle suction increase instruction is output until the new total suction value is greater than the lower limit threshold of panel adsorption.

[0020] Optionally, the valve body is an adjustable opening valve and reduces its opening in response to a single suction nozzle suction force increase instruction.

[0021] Optionally, the manifold block is provided with an air blowing switching mechanism, the air blowing switching mechanism comprises a transverse cut-off assembly, a piston return air assembly, a return air pipe, a first cut-off valve and a second cut-off valve, the transverse cut-off assembly comprises a positive orifice plate, a pair of orifice plates and a driving unit, the positive orifice plate and the pair of orifice plates are stacked and slide against each other to open and close the holes on the plate, the driving unit is used to drive the pair of orifice plates to slide and is electrically connected to the control module, the positive orifice plate cooperates with the pair of orifice plates to divide the inner cavity of the manifold block to form an upper and lower cavity;

[0022] The piston air return assembly comprises an intake bypass pipe, a blocking block, a linkage rod and a piston, one end of the intake bypass pipe is connected to the upper cavity of the manifold block, and the other end is laterally outward and the end is closed; an air hole is opened on the outer side wall of the intake bypass pipe, the first stop valve is installed on the intake bypass pipe between the air hole and the manifold block, a retaining ring is fixed on the inner wall of the intake bypass pipe, the retaining ring is located between the air hole and the first stop valve, the blocking block is slidably connected to the intake bypass pipe and a return spring is fixed on one end facing the limiting ring, and the blocking block has a hole along the sliding direction;

[0023] One end of the return air pipe is connected to the lower cavity of the manifold block, and the other end is horizontal; a stop valve 2 is installed at one end of the return air pipe close to the manifold block, the piston is slidably connected to the inner side of the outer end of the return air pipe, and another air hole is opened on the side wall of the outer end of the return air pipe;

[0024] One end of the linkage rod is fixed to the blocking block, and the other end first extends outward along the intake bypass pipe, then bends and extends toward the piston and is fixed to the piston; the blocking block has the same moving direction as the piston, and the shut-off valve 1 and the shut-off valve 2 are electrically connected to the control module.

[0025] Optionally, there are multiple retractable components and they are arranged horizontally, a long groove is opened on the structural plate located below, a screw is fixed on the upper part of the retractable component, the screw extends upward from the long groove and is threadedly connected with a nut handle, the nut handle is located above the long groove and has a lateral dimension greater than the width of the long groove.

[0026] Optionally, the sensing module further includes a detection sensor installed on the structural plate, and the detection direction of the detection sensor faces downward.

[0027] Optionally, a lifting and lowering plate stacking mechanism is arranged on the side of the belt transmission mechanism, and the lifting and lowering plate stacking mechanism includes a base, a plate stacking platform located above the base, a lifting rod whose upper end supports the plate stacking platform and whose lower end is connected to the base, and a servo drive unit for driving the lifting rod to extend and retract, and the servo drive unit is electrically connected to the control module.

[0028] Optionally, the stacking platform includes a horizontally arranged conveyor belt, the conveyor belt is electrically connected to the control module, and the lifting and stacking mechanism has multiple groups.

[0029] In summary, the present application includes the following beneficial technical effects: machine vision can be used in conjunction with a robot to automatically locate the position of the panel and retract it to complete the PCB unloading work; compared with direct discharge from a conveyor belt, it is not easy to damage the panel, and because the robot's action position is determined based on image recognition and positioning, the position change of the panel is less affected, the retractable panel has higher accuracy, and better stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1It is a schematic diagram of the overall structure of this application;

[0031] Figure 2 It is a schematic diagram of the control structure of this application;

[0032] Figure 3 It is a structural schematic diagram of the belt transmission mechanism area of ​​the present application;

[0033] Figure 4 It is a structural schematic diagram of the lifting and stacking plate mechanism area of ​​the present application;

[0034] Figure 5 It is a structural schematic diagram of the retractable device of the present application;

[0035] Figure 6 is a front view of the retractable device of the present application;

[0036] Figure 7 It is a schematic diagram of the longitudinal section structure of the retractable and retractable components and the blowing switching mechanism of the present application.

[0037] Description of reference numerals: 1. belt transmission mechanism; 11. tail plate; 2. vision module; 3. manipulator; 31. retractable device; 311. structural plate; 312. support shaft; 313. retractable assembly; 3131. manifold; 3132. nozzle; 314. buffer spring; 315. nut handle; 4. sensing module; 41. rotary encoder; 42. detection sensor; 5. control module; 6. rack; 61. shield; 7. Lifting and lowering plate stacking mechanism; 71. Base; 72. Plate stacking platform; 73. Lifting rod; 731. Inner rod; 732. Outer rod; 74. Servo drive unit; 8. Blowing switching mechanism; 81. Return air pipe; 82. Stop valve 1; 83. Stop valve 2; 84. Orifice plate positive; 85. Orifice plate vice; 86. Drive unit; 87. Intake bypass pipe; 88. Blocking block; 89. Linkage rod; 810. Piston; 811. Return spring. DETAILED DESCRIPTION

[0038] The following is combined with Figure 1-7 This application is described in further detail.

[0039] The embodiment of the present application discloses a robotic arm material collection and release system with visual coordination.

[0040] Reference Figure 1-3 The manipulator material collection and unloading system under visual coordination includes a belt transmission mechanism 1, a visual module 2, a manipulator 3, a sensing module 4, a control module 5 and a frame 6, wherein the frame 6 is a frame structure for installing multiple components of the system, and the style is customized according to the needs.

[0041] The belt transmission mechanism 1 is horizontally installed in the frame 6, with one end close to the main line process equipment to receive the PCB board forming panels horizontally uniformly transmitted from the main line process equipment through the main line transmission roller conveyor mechanism. The belt transmission mechanism 1 is a wide conveyor belt, which will not be described in detail; a tail plate 11 of a fixed frame is set at the discharge end of the belt transmission mechanism 1, and the tail plate 11 is tilted downward and the outer side is bent upward; the tail plate 11 can be used to temporarily store the panels that have not been collected to prevent the panels from accidentally falling to the ground.

[0042] The visual module 2 and the manipulator 3 are arranged horizontally with the visual module 2 in front, that is, the plate first passes through the sensing area of ​​the visual module and then enters the operating range of the manipulator 3. A shield 61 is fixed with a frame 6 just above the feeding end of the belt transmission mechanism 1, and the visual module 2 is concealedly installed in the shield 61; the visual module 2 can be a CCD camera, and the shield 61 has a hole in front of the lens of the CCD camera without blocking it. The manipulator 3 includes a spider manipulator, which is installed on the frame 6 with the operating end facing downward, and the operating range covers the discharging end and side area of ​​the belt transmission mechanism 1; the operating end of the spider manipulator is installed with a retractable device 31, and the retractable device 31 is a pneumatic suction structure in this embodiment, and the specific structure is described in another embodiment of the present application.

[0043] The sensing module 4 includes a rotary encoder 41 , the input shaft of which is fixed coaxially with the motor shaft of the belt transmission mechanism 1 to detect the rotation information of the motor of the belt transmission mechanism 1 .

[0044] The control module 5 includes a lower controller and a computer electrically connected to the lower controller. The lower controller is electrically connected to the perception module 4, the belt transmission mechanism 1 and the manipulator 3 respectively; the visual module 2 is electrically connected to the computer.

[0045] It can be understood that in the present application, electrical connection includes electrical signal connection, wireless data connection, wired data connection, etc., which generally refers to electrical connection relationship.

[0046] Based on the above, the control module 5 is configured as follows:

[0047] Acquire the image data obtained by the visual module 2 and the belt transmission speed obtained by the perception module 4;

[0048] The image data is used to identify and locate the panel, and the position data is generated according to the timestamp.

[0049] Among them, board identification, that is, image recognition of PCB board; positioning, that is, identifying the features in the image and obtaining the pixel position of the features in the image; the timestamp is added when any image is taken, because the PCB board is in motion and the position changes over time, so it is necessary to add the timestamp to the position data. Because the encoder feedback speed, it is necessary to cooperate with the preset belt transmission ratio and other calculations to obtain the belt transmission rate; or, the database pre-records the one-to-one correspondence between each speed and the belt transmission rate.

[0050] The control module 5 is configured as follows: if the manipulator 3 is ready to receive the plate on the belt transmission mechanism 1, such as receiving a signal of feedback when the manipulator 3 completes the reset and completes a previous action, then:

[0051] Calculate the time difference based on the timestamp of the current time and location data one;

[0052] Calculate the movement variable based on the time difference and the belt drive speed (i.e., using the distance formula);

[0053] According to the movement variable, the position data 1 is updated (i.e., the X and Y axis coordinates are calculated) to obtain the position data 2, and the position data 2 is used as the basic parameter for the robot 3 to perform the board collection action and the board placement action after the board collection, that is, it is used to clarify the position where the robot 3 collects the board and how much it moves after the board is collected to complete the board placement. The execution position of the board placement action can be a fixed point to reduce the control difficulty.

[0054] According to the above content, the system can use machine vision to cooperate with the robot 3 to automatically locate the position of the board and retract and release it to complete the PCB unloading work; compared with direct discharge from the conveyor belt, it is not easy to damage the board, and because the action position of the robot is determined by image recognition and positioning, the change of the board position is less affected, the accuracy of retracting and releasing the board is higher, and the stability is better.

[0055] Reference Figure 1 and Figure 4 In another embodiment of the system, the system further includes a lifting and stacking mechanism 7, which includes a base 71, a stacking platform 72, a lifting rod 73 and a servo drive unit 74.

[0056] The base 71 is located inside the frame 6 and on the side of the belt transmission mechanism 1 , the plate stacking platform 72 is located above the base 71 , the lifting rod 73 vertically penetrates the upper surface of the base 71 and the upper end is connected to the plate stacking platform 72 , and the lower end is connected to the base 71 .

[0057] The lifting rod 73 includes an inner rod 731 and an outer rod 732. The lower end of the inner rod 731 is sleeved with a bearing seat, the bearing seat is fixed to the base 71, and the upper end of the inner rod 731 is a screw structure; the outer rod 732 is sleeved on the upper end of the inner rod 731 and is threadedly connected, and the outer rod 732 is fixed to the lower part of the stacking platform 72.

[0058] The servo drive unit 74 includes a servo (reduction) motor, which drives the inner rod 731 to rotate through a synchronous belt transmission structure, that is, one synchronous wheel of the synchronous belt transmission structure coaxially fixes the inner rod 731, and another synchronous wheel coaxially fixes the output shaft of the servo motor, and the synchronous belt meshes the two synchronous wheels. The servo motor is electrically connected to the control module 5 through a motor drive controller.

[0059] On the basis of the above, the control module 5 is configured to output a preset descending control instruction to the servo drive unit 74 if the stacking state meets the preset descending condition.

[0060] The descent conditions include:

[0061] 1) The spider manipulator places the board N times in the same area; where N is a manually defined value, such as N=10;

[0062] 2) The stacking height exceeds the upper limit. This condition requires the cooperation of the sensing module 4. For example, the sensing module 4 includes a through-beam photoelectric sensor, and the transmitter and receiver of the through-beam photoelectric sensor are respectively located on both sides of the stacking platform 72. The signal output when the middle of the through-beam photoelectric sensor is blocked and the receiver cannot receive the laser emitted by the transmitter is defined as the stacking height exceeds the upper limit.

[0063] There are multiple groups of lifting and stacking mechanisms 7, for example, there can be two groups, which are arranged side by side on the side of the belt transmission mechanism 1 to increase the stacking capacity of the system.

[0064] The plate stacking platform 72 includes a horizontally arranged conveyor belt, one end of which is close to the side of the belt transmission mechanism 1. The outer belt surface of the conveyor belt is formed with ribs, and there are multiple ribs arranged along the width direction of the conveyor belt; the length of the ribs extends along the belt surface.

[0065] The arrangement of the above-mentioned plate stacking platform 72 allows the spider manipulator to place the plates at a fixed position, reducing the difficulty of control; at the same time, after stacking a stack of plates, the conveyor belt can move them outward to free up the original position, so that the platform can stack more plates.

[0066] Reference Figure 5 and Figure 6 In one embodiment of the system, the retracting device 31 includes two layers of structural plates 311, a support shaft 312 connecting the two layers of structural plates 311, and a retracting component 313 for sucking the plate.

[0067] The structural plate 311 can be an aluminum plate, and the two layers of aluminum plates are distributed up and down; the support shafts 312 are located between the two layers of structural plates 311 and there are four of them, which are evenly distributed around the central axis of the structural plate 311. The structural plate 311 located above is fixed with an end sleeve, which is sleeved on the upper end of the support shaft 312 and is slidably connected; the support shaft 312 penetrates the structural plate 311 above and a stopper is formed at the end to prevent it from falling off. The lower end of the support shaft 312 is fixed to another structural plate 311 below, and a buffer spring 314 is provided on the outer sleeve of the support shaft 312, the upper end of the buffer spring 314 abuts against the lower end of the end sleeve, and the lower end of the buffer spring 314 abuts against the structural plate 311 located below.

[0068] The structural arrangement of the structural plate 311 can allow the structural plate 311 and the auxiliary structure below to retract upward when the spider manipulator accidentally moves downward too much, so as to reduce the chance of accidentally crushing the plate.

[0069] The retractable assembly 313 includes a hollow manifold block 3131 and a one-way valve evenly installed below the manifold block 3131. The one-way valve is connected to the inner cavity of the manifold block 3131. The lower end of the one-way valve is installed with an adapted suction nozzle 3132. The suction nozzle 3132 is a retractable structure, such as a bellows structure, to further reduce the probability of damaging the plate. The upper part of the manifold block 3131 is connected to the air pipe joint, which is used to connect to the air source, such as an air pump, through a pipeline. A solenoid valve is installed on the pipeline of the air pipe joint, and the solenoid valve is electrically connected to the control module 5, thereby realizing suction control.

[0070] There are multiple retractable components 313, for example, there may be two of them symmetrically distributed below the lower structural plate 311. A long slot is provided on the lower structural plate 311, and the length direction of the long slot is parallel to the arrangement direction of the two retractable components 313; a screw is fixed on the upper part of the retractable component 313, the screw extends upward from the long slot and is threadedly connected to a nut handle 315, the nut handle 315 is threadedly connected to the upper end of the screw and is located above the lower structural plate 311, and the lateral dimension of the nut handle 315 is greater than the width of the long slot.

[0071] According to the above configuration, the staff can loosen or tighten the nut handle 315 according to the specifications of the plate to adjust the distance between the two retractable components 313 to meet the suction requirements of plates of different sizes.

[0072] A detection sensor 42 is fixed on the side of the structural plate 311 located below. The detection sensor 42 may be a photoelectric detection structure such as a laser distance sensor, which is a component of the sensing module 4 and is electrically connected to the control module 5. The detection direction of the detection sensor 42 faces downward.

[0073] In another embodiment of the present application, the suction nozzle 3132 is connected to the manifold block 3131 through the valve body. In this case, the valve body is no longer a one-way valve, but a micro solenoid valve and is electrically connected to the control module 5. The control module 5 is configured as follows:

[0074] Extract the plate image in the image data, and perform adsorption interference feature recognition and positioning to obtain the position of the adsorption interference feature; wherein the adsorption interference feature includes: hole feature, chamfer feature;

[0075] According to the position of the adsorption interference feature and the pre-recorded positions of each suction nozzle 3132, the suction nozzle 3132 that contacts the adsorption interference feature is found and defined as the suction nozzle to be turned off; it can be understood that the position of the adsorption interference feature is also based on time; the position of the suction nozzle in this embodiment refers to the position relative to the center of the structural plate, so that the center of the plate and the center of the structural plate are collinear, the plate can be accurately collected, and the suction nozzle corresponding to the position of the adsorption interference feature can be further obtained, that is, the suction nozzle with the same X and Y axis coordinates;

[0076] According to the identification information of the suction nozzle to be shut off, the corresponding valve body is controlled to shut off; the implementation of this step requires the staff to establish a one-to-one correspondence between the valve body and the suction nozzle 3132 in advance.

[0077] According to the above content, the system can identify and locate irregular holes, chamfers and other features on the PCB board, and turn off the corresponding suction nozzle 3132 to reduce power consumption of receiving the board.

[0078] Furthermore, the control module 5 is configured as follows:

[0079] If a new suction nozzle to be shut down appears, the total suction change is calculated based on the pre-recorded suction parameters of the single suction nozzle;

[0080] If the difference between the original total suction value and the total suction change is less than the pre-recorded lower limit threshold of panel adsorption, it means that the suction is too small, and a single nozzle suction increase instruction is output until the new total suction value is greater than the lower limit threshold of panel adsorption.

[0081] According to the above settings, the probability of insufficient overall suction force and inability to stably collect boards due to the shutdown of some suction nozzles can be reduced.

[0082] Regarding the single nozzle suction force increase instruction: In this embodiment, the valve body is an adjustable valve, for example, a flow valve structure is adopted, and the valve body can reduce the opening in response to the single nozzle suction force increase instruction. The principle is: the fan power remains unchanged, the air inlet becomes smaller, and the air flow speed increases; Bernoulli principle, the increase in speed will lead to an increase in the pressure generated by the air flow, that is, it will lead to an increase in suction; therefore, the suction force can be increased by reducing the opening of the valve body, and the data relationship between the suction force increase amount and the valve body opening reduction amount can be pre-selected and set by the staff.

[0083] Reference Figure 7 In another embodiment of the system, a blowing switching mechanism 8 is provided on the manifold block 3131, and the blowing switching mechanism 8 includes a lateral cut-off component, a piston return air component, a return air pipe 81, a cut-off valve 1 82 and a cut-off valve 2 83.

[0084] The lateral cut-off assembly includes a positive orifice plate 84, a pair of orifice plates 85 and a drive unit 86. The positive orifice plate 84 is at the bottom, and the pair of orifice plates 85 is at the top with a smaller area, and the two plates are stacked; the drive unit 86 includes a miniature lateral cylinder, which is installed on the side of the manifold 3131 and a push rod that penetrates into the manifold 3131 is fixed at the end of the rod, and the push rod fixes the pair of orifice plates 85. The pair of orifice plates 85 is initially opposite to the hole on the positive orifice plate 84. After the action, the holes on the two plates are staggered to separate the inner cavity of the manifold 3131 into two upper and lower cavities; the drive unit 86 (the control valve of its cylinder) is electrically connected to the control module 5.

[0085] The piston return air assembly includes an intake bypass pipe 87, a blocking block 88, a linkage rod 89 and a piston 810. One end of the intake bypass pipe 87 is connected to the upper cavity of the manifold block 3131, and the other end is horizontally outward and the end is closed. An air hole is opened on the outer side wall of the intake bypass pipe 87, and a stop valve 82 is installed on the intake bypass pipe 87 between the air hole and the manifold block 3131. A retaining ring is fixed on the inner wall of the intake bypass pipe 87, and the retaining ring is located between the air hole and the stop valve 82. The blocking block 88 is slidably connected to the intake bypass pipe 87 and a return spring 811 is fixed to one end facing the limiting ring, and the other end of the return spring 811 contacts the retaining ring. The blocking block 88 has a hole along the sliding direction.

[0086] When the return spring 811 is in the natural state, the blocking block 88 closes the air hole; when the orifice plate 84 and the orifice plate pair 85 close the holes on the plate, the stop valve 82 is opened, the blocking block 88 is sucked inward by the negative pressure, and the blocking block 88 slides to open the air hole on the intake bypass pipe 87.

[0087] One end of the return air pipe 81 is connected to the lower cavity of the manifold block 3131, and the other end is bent and extended laterally close to the intake bypass pipe 87 and parallel to it; a stop valve 2 83 is installed at the end of the return air pipe 81 close to the manifold block 3131, and the piston 810 is slidably connected to the inner side of the outer end of the return air pipe 81, and another air hole is opened on the outer end side wall of the return air pipe 81.

[0088] One end of the linkage rod 89 is fixed to the blocking block 88, and the other end first extends outward along the intake bypass pipe 87, then bends and extends toward the piston 810 and is fixed to the piston 810; the blocking block 88 and the piston 810 have the same moving direction, and the shut-off valve 1 82 and the shut-off valve 2 83 are electrically connected to the control module 5.

[0089] When the stop valve 1 82 is opened, the stop valve 2 83 is opened. With the movement of the blocking block 88, the piston 810 is pushed into the return air pipe 81 driven by the linkage rod 89, which acts similarly to injection air supply to quickly terminate the vacuum adsorption state of the suction nozzle 3132 and allow the plate to fall smoothly.

[0090] According to the above content, this system does not need to terminate the vacuum working mode through the equipment connected to the air pipe joint of the junction block 3131 to achieve the release of the board, nor does it require the intervention of other air supply equipment. It only needs to adjust the blowing switching mechanism 8 to use the original negative pressure to produce a blowing effect, so as to quickly cut off the vacuum adsorption mode of the suction nozzle 3132; at the same time, because it is the reuse of the original negative pressure system, there is no need to repeatedly adjust the opening and state of the valve, and the control difficulty is smaller.

[0091] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A manipulator material collection and unloading system under visual coordination, characterized in that: The invention comprises a control module (5), a belt transmission mechanism (1), a visual module (2), a manipulator (3) and a sensing module (4) electrically connected to the control module (5); the belt transmission mechanism (1) is used to transport plate pieces; the visual module (2) faces the upper belt surface of the belt transmission mechanism (1); the sensing module (4) comprises a rotary encoder (41) for sensing the rotation speed of the belt transmission mechanism (1); the operating range of the manipulator (3) covers the upper part and the side of the belt transmission mechanism (1); and the control module (5) is configured as follows: Obtaining image data obtained by the vision module (2) and the belt transmission speed obtained by the perception module (4); Perform panel recognition and positioning on the image data, and generate position data 1 according to the timestamp; If the robot (3) is ready to receive the plate from the belt conveyor (1), then: Calculate the time difference according to the timestamp corresponding to the current time and location data; Calculate the movement variable based on the time difference and the belt drive speed; The position data 1 is updated according to the movement variable to obtain the position data 2, which is used to control the manipulator (3) to perform the plate collecting action and the plate releasing action after the plate is collected; The manipulator (3) comprises a spider manipulator and a retractable device (31) installed at the working end of the spider manipulator, the retractable device (31) comprising a structural plate (311), a support shaft (312) and a retractable assembly (313), the structural plate (311) being two layers and being distributed in an upper and lower manner, the support shaft (312) comprising a plurality of support shafts and being located between the two layers of structural plates (311), the structural plate (311) being located at the upper portion being fixed with an end sleeve, the upper end of the support shaft (312) being slidably connected to the end sleeve and the lower end being fixed to the structural plate (311) being located at the lower portion, the support shaft (312) The outer sleeve is provided with a buffer spring (314), the upper end of the buffer spring (314) contacts the lower end of the end sleeve and the lower end contacts the structural plate (311) located below, the retractable assembly (313) comprises a manifold block (3131) and a suction nozzle (3132), the manifold block (3131) is connected to the structural plate (311) below and has a hollow structure, a device for connecting to an air source is installed on the manifold block (3131), a plurality of suction nozzles (3132) are installed at the bottom of the manifold block (3131), and the suction nozzle (3132) is connected to the inner cavity of the manifold block (3131) and has a retractable structure.

2. According to the visual coordination robot material collection and release system of claim 1, it is characterized in that: The suction nozzle (3132) is connected to the manifold block (3131) via a valve body, and the valve body is electrically connected to a control module (5). The control module (5) is configured as follows: Extract the plate image in the image data, and perform adsorption interference feature recognition and positioning to obtain the position of the adsorption interference feature; According to the position of the adsorption interference feature and the pre-recorded positions of each suction nozzle (3132), the suction nozzle (3132) contacting the adsorption interference feature is found and defined as the suction nozzle to be shut down; According to the identification information of the suction nozzle to be shut off, the corresponding valve body is controlled to shut off.

3. The visual coordination robot material collection and unloading system according to claim 2 is characterized in that: The control module (5) is configured as follows: If a new suction nozzle to be shut down appears, the total amount of suction change is calculated based on the pre-recorded suction parameters of the single suction nozzle (3132); If the difference between the original total suction value and the total suction change is less than the pre-recorded lower limit threshold of panel adsorption, a single suction nozzle suction increase instruction is output until the new total suction value is greater than the lower limit threshold of panel adsorption.

4. The visual coordination robot material collection and unloading system according to claim 3 is characterized in that: The valve body is an adjustable opening valve and reduces its opening in response to a single suction nozzle suction force upward adjustment instruction.

5. The visual coordination robot material collection and unloading system according to claim 3 is characterized in that: The manifold block (3131) is provided with an air blowing switching mechanism (8), the air blowing switching mechanism (8) comprising a transverse shutoff assembly, a piston air return assembly, an air return pipe (81), a shutoff valve 1 (82) and a shutoff valve 2 (83), the transverse shutoff assembly comprising a positive orifice plate (84), a pair of orifice plates (85) and a drive unit (86), the positive orifice plate (84) and the pair of orifice plates (85) being stacked and sliding relative to each other to open and close the holes on the plate, the drive unit (86) being used to drive the pair of orifice plates (85) to slide and being electrically connected to the control module (5), the positive orifice plate (84) cooperating with the pair of orifice plates (85) to divide the inner cavity of the manifold block (3131) into two upper and lower cavities; The piston air return assembly comprises an intake bypass pipe (87), a blocking block (88), a linkage rod (89) and a piston (810); one end of the intake bypass pipe (87) is connected to the upper cavity of the manifold block (3131), and the other end is laterally outward and the end is closed; an air hole is opened on the outer side wall of the intake bypass pipe (87); the first stop valve (82) is installed on the intake bypass pipe (87) between the air hole and the manifold block (3131); a retaining ring is fixed on the inner wall of the intake bypass pipe (87); the retaining ring is located between the air hole and the first stop valve (82); the blocking block (88) is slidably connected to the intake bypass pipe (87) and a return spring (811) is fixed on one end facing the limiting ring; the blocking block (88) has a hole along the sliding direction; One end of the return air pipe (81) is connected to the lower cavity of the manifold block (3131), and the other end is horizontal; a stop valve 2 (83) is installed at one end of the return air pipe (81) close to the manifold block (3131), the piston (810) is slidably connected to the inner side of the outer end of the return air pipe (81), and another air hole is provided on the side wall of the outer end of the return air pipe (81); One end of the linkage rod (89) is fixed to the blocking block (88), and the other end first extends outward along the intake bypass pipe (87), then bends and extends toward the piston (810) and is fixed to the piston (810); the blocking block (88) and the piston (810) move in the same direction, and the stop valve 1 (82) and the stop valve 2 (83) are electrically connected to the control module (5).

6. The visual coordination robot material collection and unloading system according to claim 1 is characterized in that: The retractable components (313) are multiple and arranged transversely, and a long slot is provided on the structural plate (311) located below. A screw is fixed to the upper part of the retractable components (313), and the screw extends upward from the long slot and is threadedly connected to a nut handle (315). The nut handle (315) is located above the long slot and has a transverse dimension greater than the width of the long slot.

7. The visual coordination robot material collection and unloading system according to claim 1 is characterized in that: The sensing module (4) further comprises a detection sensor (42) mounted on the structural plate (311), wherein the detection direction of the detection sensor (42) faces downward.

8. The visual coordination robot material collection and unloading system according to claim 1 is characterized in that: A lifting and stacking mechanism (7) is arranged on the side of the belt transmission mechanism (1), and the lifting and stacking mechanism (7) comprises a base (71), a stacking platform (72) located above the base (71), a lifting rod (73) whose upper end supports the stacking platform (72) and whose lower end is connected to the base (71), and a servo drive unit (74) for driving the lifting rod (73) to extend and retract, and the servo drive unit (74) is electrically connected to the control module (5).

9. The visual coordination manipulator material collection and unloading system according to claim 8 is characterized in that: The plate stacking platform (72) comprises a horizontally arranged conveyor belt, the conveyor belt being electrically connected to a control module (5), and the plate stacking lifting mechanism (7) comprising a plurality of groups.

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