Automatic plate placing device and method based on visual identification

Abstract

The invention discloses an automatic tray placing device and method based on visual identification, and the automatic tray placing device based on visual identification comprises a conveying line used for conveying products to be placed, a suction cup assembly, a visual identification assembly, a movement assembly and a discharging tray. The suction cup assembly comprises a rotary disc and a plurality of suction nozzles. The visual identification assembly is used for acquiring image information and position information of to-be-placed products in the target area; the motion assembly is used for driving the turntable to move and rotate according to the image information and the position information; and a discharging position is arranged on the discharging disc. The automatic tray placing method based on visual identification comprises the following steps: acquiring image information and position information of a to-be-placed product in a target area; and the turntable is driven to move and rotate according to the image information, the position information and the conveying speed of the conveying line. According to the automatic plate placing device and method based on visual identification, automatic plate placing can be achieved, and the plate placing efficiency is high.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic dish placement, and in particular to an automatic dish placement device and method based on visual recognition. Background Art

[0002] With the rapid development of the plastic parts manufacturing industry, the requirements for production efficiency and product quality are also constantly increasing. Traditional manual plating operations face many challenges, such as high labor intensity, low work efficiency, and high error rates, which have become bottlenecks for large-scale production. Therefore, it is particularly important to develop an automated and intelligent plating solution, which not only helps to improve production efficiency and reduce human errors, but also significantly reduces the labor intensity of workers and better adapts to the development needs of modern manufacturing. Summary of the invention

[0003] In order to overcome the shortcomings of the prior art, one of the objects of the present invention is to provide an automatic plating device based on visual recognition. The second object of the present invention is to provide an automatic plating method based on visual recognition, which can realize automatic plating with high efficiency.

[0004] One of the purposes of the present invention is achieved by the following technical solution: An automatic plate arrangement device based on visual recognition, comprising: A conveyor line, wherein the conveyor line is used to convey the products to be plated; A suction cup assembly, the suction cup assembly comprising a turntable and a plurality of suction nozzles, the rotation axis of the turntable being arranged parallel to the conveying plane of the conveying line, each of the suction nozzles being arranged on the turntable along the circumferential direction of the turntable, and each of the suction nozzles being able to suck the product to be placed on the plate in a releasable manner; A visual recognition component, the visual recognition component is used to obtain image information and position information of products to be placed in a target area, the number of products to be placed in the target area is less than or equal to the number of suction nozzles, the target area is located on the conveyor line, the width of the target area is greater than or equal to the width of the conveyor line, and the length of the target area is less than the length of the conveyor line; A motion component, wherein the motion component is used to drive the turntable to move along the X-axis, the Y-axis, and the Z-axis and to rotate around the X-axis and the Z-axis according to the conveying speed of the conveying line and the image information and position information of the products to be placed in the target area acquired by the visual recognition component, so that each suction nozzle on the turntable can sequentially suck or release the products to be placed; the X-axis is parallel to the conveying direction of the conveying line, the Y-axis is parallel to the conveying plane of the conveying line and perpendicular to the X-axis, and the Z-axis is perpendicular to the X-axis and the Y-axis respectively; A material discharge tray is provided with material discharge positions, and the material discharge positions are used to hold the products to be placed on the plate released by the suction nozzles, and the number of the material discharge positions is greater than or equal to the number of the suction nozzles.

[0005] Further, the motion assembly includes a frame, a Y-axis guide rail is provided on the frame, a first slider and a first driving member driving the first slider to move along the Y-axis are provided on the Y-axis guide rail; an X-axis guide rail is provided on the first slider, a second slider and a second driving member driving the second slider to move along the X-axis are provided on the X-axis guide rail; a Z-axis guide rail is provided on the second slider, a third slider and a third driving member driving the third slider to move along the Z-axis are provided on the Z-axis guide rail; a fourth driving member is provided on the third slider, a connecting frame is provided at the output end of the fourth driving member, and the fourth driving member is used to drive the connecting frame to rotate around the Z-axis; a fifth driving member is provided on the connecting frame, and the output end of the fifth driving member is connected to the turntable to drive the turntable to rotate around the X-axis.

[0006] Furthermore, the plurality of suction nozzles are evenly arranged along the circumferential direction of the turntable.

[0007] Furthermore, the number of the suction nozzles is 8.

[0008] Furthermore, the first driving member, the second driving member and the third driving member are all linear motors or linear cylinders; the fourth driving member and the fifth driving member are all rotary motors or rotary cylinders.

[0009] Furthermore, the image information includes height information, angle information and shape information.

[0010] An automatic plating method based on visual recognition comprises the following steps: S1. The visual recognition component obtains image information and position information of the products to be plated in the target area, wherein the image information includes height information, angle information and shape information; S2. According to the shape information, position information and the conveying speed of the conveyor line, the motion component drives the turntable to move to the top of the frontmost product to be placed on the plate, and then the motion component drives the turntable to maintain the same movement direction and speed as the conveyor belt; S3, according to the height information, the motion component drives the turntable to move downward along the Z-axis direction until one of the suction nozzles on the turntable touches the upper surface of the frontmost product to be placed on the plate and stops moving in the Z-axis direction. At this time, the suction nozzle sucks the frontmost product to be placed on the plate; S4. According to the height information, the motion component drives the turntable to move upward along the Z axis until the suction nozzle on the turntable does not collide with any product to be placed on the plate, and then the turntable stops moving; S5, the motion assembly drives the turntable to rotate around the X-axis so that the suction nozzle on the turntable adjacent to the suction nozzle that sucks the product to be placed on the plate faces downward; S6, repeating steps S2-S5 until all the suction nozzles on the turntable have sucked the products to be placed on the plate; S7, the motion component drives the turntable to move above the discharge tray. According to the angle information, the suction nozzles on the turntable release the products to be placed on the tray in turn at the corresponding discharge positions of the discharge tray.

[0011] Furthermore, the visual recognition component is suitable for acquiring image information and position information of the products to be arranged in the target area according to the triggering of the material sensor, and the material sensor is arranged at the front end of the target area to sense the products to be arranged in the front end of the target area.

[0012] Furthermore, the visual recognition component compares and judges the image information and position information acquired twice in succession, and removes the image information and position information that have been acquired.

[0013] Further, in step S2, when there are multiple products to be placed on the frontmost plate, the motion component is suitable for driving the turntable to move to directly above any one of the products to be placed on the frontmost plate.

[0014] Compared with the prior art, the beneficial effect of the present invention is that the motion component drives the turntable to maintain the same motion direction and speed as the conveyor belt, so that the suction nozzle and the product to be placed on the plate can be relatively stationary in the conveying direction of the conveyor line, so that when the motion component drives the turntable to move downward along the Z-axis direction so that the suction cup absorbs the product chamber to be placed on the plate, there will be no interference between the suction nozzle and the conveyor belt, thereby ensuring the reliability of the suction by the suction nozzle. In addition, in the present invention, after the suction nozzle on the turntable absorbs a product to be placed on the plate, the turntable will rotate a certain angle to allow the adjacent suction nozzle to suck another product to be placed on the plate downward, and so on and so forth, until all the suction nozzles on the turntable absorb the product to be placed on the plate, the motion component will drive the turntable to move above the discharge tray, and each suction nozzle on the turntable will release the product to be placed on the plate in turn in each discharge position of the discharge tray, and this method can improve the efficiency of the plate. Specifically, this method can greatly reduce the number of times the turntable goes back and forth between the conveyor line and the discharge tray, thereby saving time and improving the efficiency of the plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a three-dimensional schematic diagram of an automatic plate arrangement device based on visual recognition according to the present invention; Figure 2 for Figure 1 Schematic diagram of the conveyor line removed; Figure 3 It is a schematic diagram of a conveyor line, a target area, and products to be placed in the target area in an automatic plate placing device based on visual recognition in the present invention, wherein the direction of the arrow in the figure is the conveying direction of the conveyor line; Figure 4 It is a flow chart of the automatic plating method based on visual recognition in the present invention.

[0016] In the figure: 1. conveyor line; 2. suction cup assembly; 21. turntable; 22. suction nozzle; 3. visual recognition assembly; 31. target area; 4. motion assembly; 41. frame; 421. Y-axis guide rail; 422. first slider; 423. first driving member; 431. X-axis guide rail; 432. second slider; 433. second driving member; 441. Z-axis guide rail; 442. third slider; 443. third driving member; 45. fourth driving member; 46. connecting frame; 47. fifth driving member; 48. range of movement of the turntable driven by the motion assembly; 5. discharge tray; 51. discharge position. DETAILED DESCRIPTION

[0017] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Preferred embodiments of the present invention are provided in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0018] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0020] like Figure 1-3 As shown, an automatic plate placing device based on visual recognition includes at least a conveyor line 1, a suction cup assembly 2, a visual recognition assembly 3, a motion assembly 4 and a material placing tray 5.

[0021] The conveyor line 1 is used to convey the products to be plated.

[0022] The suction cup assembly 2 includes a turntable 21 and a plurality of suction nozzles 22. The rotation axis of the turntable 21 is arranged parallel to the conveying plane of the conveying line 1. Each suction nozzle 22 is arranged on the turntable 21 along the circumferential direction of the turntable 21. Each suction nozzle 22 can suck the product to be placed on the plate in a releasable manner. Specifically, in the invention, the number of the suction nozzles 22 is 8.

[0023] The visual recognition component 3 is used to obtain image information and position information of the products to be placed in the target area 31. Specifically, the image information includes height information, angle information and shape information. The number of products to be placed in the target area 31 is less than or equal to the number of suction nozzles 22. The target area 31 is located on the conveyor line 1. The width of the target area 31 is greater than or equal to the width of the conveyor line 1. The length of the target area 31 is less than the length of the conveyor line 1.

[0024] The motion component 4 is used to drive the turntable 21 to move along the X-axis, Y-axis, and Z-axis and rotate around the X-axis and Z-axis according to the conveying speed of the conveyor line 1 and the image information and position information of the products to be placed in the target area 31 obtained by the visual recognition component 3, so that each suction nozzle 22 on the turntable 21 can suck or release the products to be placed in sequence; specifically, the conveying speed of the conveyor line 1 can be obtained through the encoder feedback of the conveyor line 1, and the range 48 of the turntable driven by the motion component is larger than the range of the target area 31; the X-axis is parallel to the conveying direction of the conveyor line 1, the Y-axis is parallel to the conveying plane of the conveyor line 1 and perpendicular to the X-axis, and the Z-axis is perpendicular to the X-axis and the Y-axis respectively.

[0025] The discharge tray 5 is provided with discharge positions 51 , which are used to hold the products to be placed on the tray released by the suction nozzles 22 , and the number of the discharge positions 51 is greater than or equal to the number of the suction nozzles 22 .

[0026] The automatic plating device based on visual recognition of the present invention has the following working process: S1, the visual recognition component 3 obtains the image information and position information of the product to be plating in the target area 31, wherein the image information includes height information, angle information and shape information; S2, according to the shape information, position information and the conveying speed of the conveyor line 1, the motion component 4 drives the turntable 21 to move to the top of the frontmost product to be plating, and then the motion component 4 drives the turntable 21 to maintain the same movement direction and speed as the conveyor belt; S3, according to the height information, the motion component 4 drives the turntable 21 to move downward along the Z-axis direction until one of the suction nozzles 22 on the turntable 21 touches the upper surface of the frontmost product to be plating and stops the movement in the Z-axis direction, at which time the suction nozzle 22 sucks the frontmost product to be plating; S4, according to the height information, the motion component 4 Drive the turntable 21 to move upward along the Z axis until the suction nozzle 22 on the turntable 21 does not collide with any product to be placed on the plate, and then the turntable 21 stops moving; S5, the motion component 4 drives the turntable 21 to rotate around the X axis, so that the suction nozzle 22 on the turntable 21 that is adjacent to the suction nozzle 22 that absorbs the product to be placed on the plate is facing downward; S6, repeat steps S2-S5 until all the suction nozzles 22 on the turntable 21 absorb the product to be placed on the plate; S7, the motion component 4 drives the turntable 21 to move above the discharge tray 5, and according to the angle information, the suction nozzles 22 on the turntable 21 release the product to be placed on the plate in the corresponding discharge positions 51 of the discharge tray 5 in turn. Specifically, since the motion component 4 can drive the turntable 21 to rotate along the Z axis, during actual placement, according to the angle information, the turntable 21 can rotate in the corresponding direction to adjust each product to be placed on the plate to the same direction.

[0027] In the above manner, the motion component 4 drives the turntable 21 to maintain the same motion direction and speed as the conveyor belt, so that the suction nozzle 22 and the product to be placed on the plate can be relatively stationary in the conveying direction of the conveyor line 1, so that when the motion component 4 drives the turntable 21 to move downward along the Z-axis direction so that the suction cup absorbs the product chamber to be placed on the plate, there will be no interference between the suction nozzle 22 and the conveyor belt, ensuring the reliability of the suction by the suction nozzle 22. In addition, in the present invention, after the suction nozzle 22 on the turntable 21 absorbs a product to be placed on the plate, the turntable 21 will rotate a certain angle to allow the adjacent suction nozzle 22 to suck another product to be placed on the plate downward, and so on, until all the suction nozzles 22 on the turntable 21 have absorbed the product to be placed on the plate, the motion component 4 will drive the turntable 21 to move above the discharge tray 5, and each suction nozzle 22 on the turntable 21 will release the product to be placed on the plate in turn in each discharge position 51 of the discharge tray 5. This method can improve the efficiency of the plate placement. Specifically, this method can greatly reduce the number of times the turntable 21 goes back and forth between the conveyor line 1 and the discharge tray 5, thereby saving time and improving the efficiency of the tray placement.

[0028] In summary, the automatic plating device based on visual recognition of the present invention realizes automatic plating through the cooperation of the visual recognition component 3 with the suction cup component 2 and the motion component 4, and due to the unique design of the turntable 21 and the suction nozzle 22 in the suction cup component 2, high-efficiency plating is achieved.

[0029] Preferably, the motion component 4 includes a frame 41, on which a Y-axis guide rail 421 is provided, on which a first slider 422 and a first driving member 423 that drives the first slider 422 to move along the Y-axis are provided; on the first slider 422, an X-axis guide rail 431 is provided, on which a second slider 432 and a second driving member 433 that drives the second slider 432 to move along the X-axis are provided; on the second slider 432, a Z-axis guide rail 441 is provided, on which a third slider 442 and a third driving member 443 that drives the third slider 442 to move along the Z-axis are provided; on the third slider 442, a fourth driving member 45 is provided, on which a connecting frame 46 is provided at an output end, and the fourth driving member 45 is used to drive the connecting frame 46 to rotate around the Z-axis; on the connecting frame 46, a fifth driving member 47 is provided, and the output end of the fifth driving member 47 is connected to the turntable 21 to drive the turntable 21 to rotate around the X-axis. That is, in the present invention, the five-axis motion of the turntable 21 can be specifically achieved by the above-mentioned method.

[0030] Preferably, the plurality of suction nozzles 22 are evenly arranged along the circumferential direction of the turntable 21. In this way, the rotation of the turntable 21 around the X-axis can be conveniently controlled. That is, the rotation angle of the turntable 21 around the X-axis is fixed each time, so it can be conveniently controlled.

[0031] Preferably, the first driving member 423, the second driving member 433 and the third driving member 443 are all linear motors or linear cylinders; the fourth driving member 45 and the fifth driving member 47 are all rotary motors or rotary cylinders.

[0032] Reference Figure 4 The present invention also discloses an automatic plating method based on visual recognition, comprising the following steps: S1. The visual recognition component 3 obtains image information and position information of the products to be plated in the target area 31, wherein the image information includes height information, angle information and shape information.

[0033] S2. According to the shape information, position information and conveying speed of the conveyor line 1, the motion component 4 drives the turntable 21 to move to the front end just above the product to be plated, and then the motion component 4 drives the turntable 21 to maintain the same movement direction and speed as the conveyor belt.

[0034] S3. According to the height information, the motion component 4 drives the turntable 21 to move downward along the Z axis until one of the suction nozzles 22 on the turntable 21 touches the upper surface of the frontmost product to be placed on the plate and stops moving in the Z axis direction. At this time, the suction nozzle 22 sucks the frontmost product to be placed on the plate. It should be noted that after the frontmost product to be placed on the plate is sucked, the product to be placed behind the sucked product to be placed on the plate will become the frontmost product to be placed on the plate. For ease of understanding, please refer to Figure 3 In the figure, product A is the frontmost product to be placed on the plate. After product A is sucked in, product B will become the frontmost product to be placed on the plate.

[0035] S4. According to the height information, the motion component 4 drives the turntable 21 to move upward along the Z axis until the suction nozzle 22 on the turntable 21 does not collide with any product to be placed on the plate, and then the turntable 21 stops moving.

[0036] S5. The motion assembly 4 drives the turntable 21 to rotate around the X-axis so that the suction nozzle 22 on the turntable 21 adjacent to the suction nozzle 22 sucking the product to be placed on the plate faces downward.

[0037] S6. Repeat steps S2-S5 until all the suction nozzles 22 on the turntable 21 have sucked the products to be placed on the plate.

[0038] S7, the motion component 4 drives the turntable 21 to move above the discharge tray 5, and according to the angle information, the suction nozzles 22 on the turntable 21 release the products to be plated into the corresponding discharge positions 51 of the discharge tray 5 in turn.

[0039] Preferably, the visual recognition component 3 is suitable for acquiring the image information and position information of the product to be placed in the target area 31 according to the triggering of the material sensor, and the material sensor is arranged at the front end of the target area 31 to sense the product to be placed in the front end of the target area 31. In this way, the power consumption of the visual recognition component 3 can be reduced, that is, the visual recognition component 3 works only when there is material. Specifically, the visual recognition component 3 compares and judges the image information and position information acquired twice in succession, and removes the image information and position information that have been acquired. In this way, the duplication of information can be avoided, and the accuracy of the motion component 4 driving the turntable 21 can be ensured.

[0040] Preferably, in step S2, when there are multiple products to be placed at the front, the motion component 4 is suitable for driving the turntable 21 to move to the top of any one of the products to be placed at the front. For ease of understanding, the example of three products to be placed at the front is used for explanation. The motion component 4 drives the turntable 21 to move to the top of one of the three products to be placed at the front. After executing steps S2-S5 once, there will be only two products to be placed at the front. Then the motion component 4 drives the turntable 21 to move to the top of one of the two products to be placed at the front, and then executes steps S2-S5 again. At this time, there is only one product to be placed at the front. Similarly, the motion component 4 drives the turntable 21 to move to the top of the last product to be placed at the front, and executes steps S2-S5.

[0041] The above are only embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An automatic plating device based on visual recognition, characterized in that: include: A conveyor line, wherein the conveyor line is used to convey the products to be plated; A suction cup assembly, the suction cup assembly comprising a turntable and a plurality of suction nozzles, the rotation axis of the turntable being arranged parallel to the conveying plane of the conveying line, each of the suction nozzles being arranged on the turntable along the circumferential direction of the turntable, and each of the suction nozzles being able to suck the product to be placed on the plate in a releasable manner; A visual recognition component, the visual recognition component is used to obtain image information and position information of products to be placed in a target area, the number of products to be placed in the target area is less than or equal to the number of suction nozzles, the target area is located on the conveyor line, the width of the target area is greater than or equal to the width of the conveyor line, and the length of the target area is less than the length of the conveyor line; A motion component, wherein the motion component is used to drive the turntable to move along the X-axis, the Y-axis, and the Z-axis and to rotate around the X-axis and the Z-axis according to the conveying speed of the conveying line and the image information and position information of the products to be placed in the target area acquired by the visual recognition component, so that each suction nozzle on the turntable can sequentially suck or release the products to be placed; the X-axis is parallel to the conveying direction of the conveying line, the Y-axis is parallel to the conveying plane of the conveying line and perpendicular to the X-axis, and the Z-axis is perpendicular to the X-axis and the Y-axis respectively; A material discharge tray is provided with material discharge positions, and the material discharge positions are used to hold the products to be placed on the plate released by the suction nozzles, and the number of the material discharge positions is greater than or equal to the number of the suction nozzles.

2. The automatic plating device based on visual recognition according to claim 1, characterized in that: The motion assembly includes a frame, a Y-axis guide rail is provided on the frame, a first slider and a first driving member driving the first slider to move along the Y-axis are provided on the Y-axis guide rail; an X-axis guide rail is provided on the first slider, a second slider and a second driving member driving the second slider to move along the X-axis are provided on the X-axis guide rail; a Z-axis guide rail is provided on the second slider, a third slider and a third driving member driving the third slider to move along the Z-axis are provided on the Z-axis guide rail; a fourth driving member is provided on the third slider, a connecting frame is provided at the output end of the fourth driving member, and the fourth driving member is used to drive the connecting frame to rotate around the Z-axis; a fifth driving member is provided on the connecting frame, and the output end of the fifth driving member is connected to the turntable to drive the turntable to rotate around the X-axis.

3. The automatic plating device based on visual recognition according to claim 1, characterized in that: The plurality of suction nozzles are evenly arranged along the circumferential direction of the turntable.

4. The automatic plating device based on visual recognition as claimed in claim 3, characterized in that: The number of the suction nozzles is 8.

5. The automatic plating device based on visual recognition as claimed in claim 2, characterized in that: The first driving member, the second driving member and the third driving member are all linear motors or linear cylinders; the fourth driving member and the fifth driving member are all rotary motors or rotary cylinders.

6. The automatic plating device based on visual recognition according to claim 1, characterized in that: The image information includes height information, angle information and shape information.

7. An automated plating method based on visual recognition, characterized in that: The following steps are involved: S1. The visual recognition component obtains image information and position information of the products to be plated in the target area, wherein the image information includes height information, angle information and shape information; S2. According to the shape information, position information and the conveying speed of the conveyor line, the motion component drives the turntable to move to the top of the frontmost product to be placed on the plate, and then the motion component drives the turntable to maintain the same movement direction and speed as the conveyor belt; S3, according to the height information, the motion component drives the turntable to move downward along the Z-axis direction until one of the suction nozzles on the turntable touches the upper surface of the frontmost product to be placed on the plate and stops moving in the Z-axis direction. At this time, the suction nozzle sucks the frontmost product to be placed on the plate; S4. According to the height information, the motion component drives the turntable to move upward along the Z axis until the suction nozzle on the turntable does not collide with any product to be placed on the plate, and then the turntable stops moving; S5, the motion assembly drives the turntable to rotate around the X-axis so that the suction nozzle on the turntable adjacent to the suction nozzle that sucks the product to be placed on the plate faces downward; S6, repeating steps S2-S5 until all the suction nozzles on the turntable have sucked the products to be placed on the plate; S7, the motion component drives the turntable to move above the discharge tray. According to the angle information, the suction nozzles on the turntable release the products to be placed on the tray in turn at the corresponding discharge positions of the discharge tray.

8. The automatic plating method based on visual recognition according to claim 7, characterized in that: The visual recognition component is suitable for acquiring image information and position information of the products to be plated in the target area according to the triggering of the material sensor. The material sensor is arranged at the front end of the target area to sense the products to be plated at the front end of the target area.

9. The automatic plating method based on visual recognition as claimed in claim 8, characterized in that: The visual recognition component compares and judges the image information and position information obtained twice in succession, and removes the image information and position information that have been obtained.

10. The automatic plating method based on visual recognition according to claim 6, characterized in that: In step S2, when there are multiple products to be placed on the front, the motion component is suitable for driving the turntable to move to the top of any one of the products to be placed on the front.

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