Screw coded disc manipulator based on machine vision

Abstract

The invention discloses a screw coded disc manipulator based on machine vision in the field of manipulators, which comprises a base and a power slide rail component connected with the base, the power slide rail component is slidably connected with a sliding support plate, the top of the sliding support plate is connected with a sliding support component, and the sliding support plate is connected with a visual component. And the top of the sliding supporting plate is connected with a power sliding rail C, the side face of the power sliding rail C is slidably connected with a sliding part B, and the side, away from the power sliding rail C, of the sliding part B is connected with a grabbing part. And when the materials deviate or are staggered to a certain degree, the clamping and grabbing structure can be adaptively adjusted through machine vision detection, and therefore it is ensured that the clamping structure can stably and accurately conduct clamping.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, and in particular to a screw code disk manipulator based on machine vision. Background Art

[0002] The main application scenario of the screw coding robot is the coding box technology for fasteners according to the specified style. With the development of industrial automation, the fasteners themselves are connected with automation. During the connection process, the original fasteners need to be placed neatly and without leakage in the box, and the material fastener storage is realized through the coding box method.

[0003] The traditional robot structure performs repetitive operations based on a fixed trajectory. When objects are offset or misaligned, the adaptive correction function cannot be realized, resulting in operation jamming and waiting for manual repair and restart of the robot. Summary of the invention

[0004] The purpose of this section is to summarize some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of the present invention to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0005] The purpose of the present invention is to address the technical problems existing in the background technology. The present invention proposes a screw code disk manipulator based on machine vision. The present invention can effectively improve the anti-interference ability of the manipulator during the handling operation through this device. When the material is offset or misplaced to a certain extent during the handling by the manipulator, the clamping and grasping structure can be adaptively adjusted through machine vision detection, thereby ensuring that the clamping structure can clamp stably and accurately.

[0006] The present invention proposes a screw code disk manipulator based on machine vision, including a base and a power slide rail component connected to it, the power slide rail component is slidably connected to a sliding support plate, the top of the sliding support plate is connected to a sliding support component, the sliding support plate is connected to a vision component, the top of the sliding support plate is connected to a power slide rail C, the side of the power slide rail C is slidably connected to a sliding part B, and the side of the sliding part B away from the power slide rail C is connected to a grabbing part.

[0007] By adopting the above technical solution, the present solution can effectively improve the stability of the movement stroke of the present device through the structure of the sliding support plate while ensuring the accuracy of the linear sliding of the present device.

[0008] Preferably, the power slide rail component includes a slide rail connected to the base, a drive motor is connected to the side of the slide rail, a screw is provided at the output end of the drive motor, the screw is rotatably arranged inside the slide rail, a threaded part is threadedly connected to the side of the screw, the threaded part is connected to the bottom of the sliding support plate, the sliding support plate is slidably connected to the slide rail, a tank chain is connected to the side of the slide rail, and the other end of the tank chain is connected to the sliding support plate.

[0009] By adopting the above technical solution, the solution can effectively improve the linear transmission stability and accuracy of the device through the combination of the threaded member and the screw.

[0010] Preferably, the sliding support component includes a power slide rail A connected to the top of the sliding support plate, and a sliding member A is slidably connected to the top of the power slide rail A. The structure of the power slide rail A is the same as that of the power slide rail component.

[0011] By adopting the above technical solution, the present invention can make the device easy to operate and control through the power slide rails of the same structure.

[0012] Preferably, the top of the sliding member A is connected to a power slide rail B, the direction of the power slide rail B is perpendicular to the power slide rail A, the structure of the power slide rail B is the same as the power slide rail component, the top of the power slide rail B is slidably connected to a tray, the side of the outer end face of the tray is provided with a limit slot, and the bottom outside the tray is connected to a calibration component.

[0013] By adopting the above technical solution, the present solution can effectively improve the accuracy of the movement and transportation of the pallet by the device through the combination of the pallet and the power slide rail B.

[0014] Preferably, the top of the power slide rail B is slidably connected to a limit support plate, and the calibration component includes two pointers, one of which is connected to the side of the limit support plate, and the other is connected to the outside of the tray, the two pointers are distributed toward each other, and the top of the limit support plate is in contact with the tray.

[0015] By adopting the above technical solution, the present solution can effectively improve the accuracy of the tray placement position of the present device through the calibration component, thereby avoiding the introduction of human errors by the present device.

[0016] Preferably, the visual component includes a camera bracket connected to the sliding support plate, the other end of the camera bracket is connected to a visual module, a camera is connected to the side of the visual module, a backlight panel is connected to the side of the power slide rail C, and the camera faces the direction of the backlight panel.

[0017] By adopting the above technical solution, the present solution can detect the position of the pallet through a camera, so that when the pallet is tilted, the clamping position of the clamping claws is changed accordingly, thereby ensuring the accuracy of the clamping process.

[0018] Preferably, the grabbing component includes a power slide rail D connected to the sliding member B, the power slide rail D is the same as the power slide rail component, the power slide rail D is slidably connected to the sliding member C, the side of the sliding member C is connected to a connecting member, the side of the connecting member is connected to a clamping motor, and the output end of the clamping motor is connected to two clamping claws.

[0019] By adopting the above technical solution, the present solution can enable the device to effectively achieve the effect of clamping and carrying through the symmetrical clamping claw structure, thereby reducing the risk of accidental slipping of the device.

[0020] Preferably, the sliding member B is connected to a vertical electric telescopic rod on its side, the telescopic end of the vertical electric telescopic rod is connected to a horizontal electric telescopic rod, the horizontal electric telescopic rod and the vertical electric telescopic rod are perpendicular to each other, and the telescopic end of the horizontal electric telescopic rod is connected to a clamping claw.

[0021] By adopting the above technical solution, the present invention can switch between the clamping claw and the gripping claw according to different materials, thereby achieving the compatibility of the present invention with various material handling.

[0022] In summary, the present invention includes at least one of the following beneficial effects:

[0023] This device can effectively improve the anti-interference ability of the robot during actual use and reduce the frequency of manual maintenance and adjustment. At the same time, this device has the adaptive adjustment ability of machine vision and can have higher compatibility with the discharge accuracy of upstream equipment, thereby reducing the requirements of the device on the external environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0025] Figure 1 This is a front view of an embodiment of a screw code disk manipulator based on machine vision of the present invention;

[0026] Figure 2 It is a schematic structural diagram of a sliding support member in an embodiment of the present invention;

[0027] Figure 3 Schematic diagram of the structure of the power slide rail C in an embodiment of the present invention;

[0028] Figure 4 It is a structural schematic diagram of a sliding support component in an embodiment of the present invention;

[0029] Figure 5Schematic diagram of the structure of the sliding member B in an embodiment of the present invention;

[0030] Figure 6 Schematic diagram of the structure of the clamping claw in an embodiment of the present invention;

[0031] Figure 7 Schematic diagram of the structure of the clamping claw in an embodiment of the present invention;

[0032] Figure markings: 1. base; 2. power slide rail component; 201. slide rail; 202. tank chain; 203. drive motor; 3. sliding support plate; 4. sliding support component; 401. power slide rail A; 402. sliding member A; 403. power slide rail B; 404. tray; 405. limit slot; 406. calibration component; 5. visual component; 501. camera bracket; 502. visual module; 503. camera; 504. backlight panel; 6. power slide rail C; 7. sliding member B; 8. grabbing component; 801. power slide rail D; 802. sliding member C; 803. connecting member; 804. clamping motor; 805. clamping claw; 806. vertical electric telescopic rod; 807. horizontal electric telescopic rod; 808. clamping claw. DETAILED DESCRIPTION

[0033] The following is combined with Figure 1-7 The present invention is described in further detail.

[0034] Embodiment 1

[0035] like Figure 1-Figure 7 As shown, in order to solve the existing problems, the present invention discloses a screw code disk manipulator based on machine vision, including a base 1 and a power slide rail component 2 connected thereto, the power slide rail component 2 is slidably connected to a sliding support plate 3, the top of the sliding support plate 3 is connected to a sliding support component 4, the sliding support plate is connected to a visual component 5, the top of the sliding support plate is connected to a power slide rail C6, the side of the power slide rail C6 is slidably connected to a sliding part B7, and the side of the sliding part B7 away from the power slide rail C6 is connected to a grabbing part 8.

[0036] The power slide rail component 2 includes a slide rail 201 connected to the base 1, a drive motor 203 is connected to the side of the slide rail 201, a screw is provided at the output end of the drive motor 203, the screw is rotatably arranged inside the slide rail 201, a threaded part is threadedly connected to the side of the screw, the threaded part is connected to the bottom of the sliding support plate 3, the sliding support plate 3 is slidably connected to the slide rail 201, a tank chain 202 is connected to the side of the slide rail 201, and the other end of the tank chain 202 is connected to the sliding support plate 3.

[0037] The sliding support component 4 includes a power slide rail A401 connected to the top of the sliding support plate 3, and a sliding member A402 is slidably connected to the top of the power slide rail A401. The structure of the power slide rail A401 is the same as that of the power slide rail component 2;

[0038] Furthermore, a power rail B403 is connected to the top of the sliding member A402, the direction of the power rail B403 is perpendicular to the power rail A401, the structure of the power rail B403 is the same as the power rail component 2, a tray 404 is slidably connected to the top of the power rail B403, a limit slot 405 is provided on the side of the outer end surface of the tray 404, and a calibration component 406 is connected to the outer bottom of the tray 404;

[0039] Specifically, the top of the power slide rail B403 is slidably connected to a limit support plate, and the calibration component 406 includes two pointers, one of which is connected to the side of the limit support plate, and the other is connected to the outer side of the tray 404. The two pointers are distributed toward each other, and the top of the limit support plate is in contact with the tray 404.

[0040] The specific working principle is: this device can effectively achieve an adaptive handling and clamping effect on the pallet 404. Compared with traditional devices, this device can perform targeted position adjustment on the clamping structure after the pallet 404 tilts at a certain angle through the automatic correction effect of machine vision, thereby ensuring the stability of the clamping and handling of the device.

[0041] When the device is in use, the sliding movement stability of the sliding support plate 3 of the device can be effectively achieved through the power slide rail component 2, and the accurate sliding effect of the sliding support plate 3 can be achieved through the structure of the driving motor 203.

[0042] While the sliding support plate 3 is sliding, the sliding support component 4 can adjust the position of the tray 404. The tray 404 can be adjusted in any horizontal position through the mutually perpendicular power slide rails A401 and B403, so as to facilitate the subsequent accurate clamping position. The limiting slots 405 on the side of the tray 404 can effectively achieve stable docking during the clamping and transportation process. During the placement of the tray 404, the calibration component 406 can effectively improve the accuracy of the placement position of the tray 404 of the device.

[0043] After the tray 404 is placed accurately and precisely moved to the appropriate position, the vertical lifting and sliding effect of the clamping structure of the device can be achieved through the combination of the power slide rail C6 and the sliding part B7, and the precise horizontal sliding effect of the clamping structure can be achieved through the combination of the power slide rail D801 and the sliding part C802. When the clamping claw 805 moves to the side of the tray 404, the clamping and carrying effect of the clamping claw 805 can be achieved through the clamping motor 804.

[0044] When the tray 404 is tilted or misaligned during the clamping process, the tilt direction and degree of the tray 404 can be determined through the combination of the visual module 502 and the camera 503. The backlight panel 504 can prevent external ambient light from interfering with the camera 503, thereby improving the detection accuracy of the device. The position of the clamping claw 805 is adjusted accordingly according to the degree of tilt detected by the visual module 502 to ensure the clamping stability of the device.

[0045] Embodiment 2

[0046] like Figure 1-Figure 7 As shown, in order to solve the existing problems in the present embodiment, based on the same concept as the above-mentioned embodiment 1, the screw code disk manipulator based on machine vision also includes: the visual component 5 includes a camera bracket 501 connected to the sliding support plate 3, the other end of the camera bracket 501 is connected to a visual module 502, the side of the visual module 502 is connected to a camera 503, the side of the power slide rail C6 is connected to a backlight panel 504, and the camera 503 is facing the direction of the backlight panel 504.

[0047] The grabbing component 8 includes a power rail D801 connected to the sliding member B7. The power rail D801 is the same as the power rail component 2. The power rail D801 is slidably connected to the sliding member C802. The sliding member C802 is connected to a connecting member 803 on its side. The connecting member 803 is connected to a clamping motor 804 on its side. The output end of the clamping motor 804 is connected to two clamping claws 805.

[0048] Furthermore, the sliding member B7 is connected to a vertical electric telescopic rod 806 on its side, the telescopic end of the vertical electric telescopic rod 806 is connected to a horizontal electric telescopic rod 807, the horizontal electric telescopic rod 807 is perpendicular to the vertical electric telescopic rod 806, and the telescopic end of the horizontal electric telescopic rod 807 is connected to a clamping claw 808.

[0049] The specific working principle is: through the multiple sets of mutually perpendicular slide rail structures of the device, the parts of the device can slide arbitrarily in the horizontal and vertical directions, thereby improving the sliding accuracy of the device and expanding the working range of the device.

[0050] The above are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A screw encoder robot based on machine vision, comprising a base (1) and a power slide rail component (2) connected thereto, characterized in that: The power slide rail component (2) is slidably connected to a slide support plate (3), the top of the slide support plate (3) is connected to a slide support component (4), the slide support plate is connected to a visual component (5), the top of the slide support plate is connected to a power slide rail C (6), the side of the power slide rail C (6) is slidably connected to a slide member B (7), and the side of the slide member B (7) away from the power slide rail C (6) is connected to a grabbing component (8).

2. The machine vision-based screw encoder robot according to claim 1, characterized in that: The power slide rail component (2) comprises a slide rail (201) connected to the base (1), a drive motor (203) is connected to the side of the slide rail (201), a screw is provided at the output end of the drive motor (203), the screw is rotatably arranged inside the slide rail (201), a threaded member is threadedly connected to the side of the screw, the threaded member is connected to the bottom of the sliding support plate (3), the sliding support plate (3) is slidably connected to the slide rail (201), a tank chain (202) is connected to the side of the slide rail (201), and the other end of the tank chain (202) is connected to the sliding support plate (3).

3. The screw encoder manipulator based on machine vision according to claim 1 is characterized in that: The sliding support component (4) comprises a power slide rail A (401) connected to the top of the sliding support plate (3), the top of the power slide rail A (401) is slidably connected to a sliding member A (402), and the structure of the power slide rail A (401) is the same as that of the power slide rail component (2).

4. The machine vision-based screw encoder robot according to claim 3, characterized in that: The top of the sliding member A (402) is connected to a power slide rail B (403), the direction of the power slide rail B (403) is perpendicular to the power slide rail A (401), the structure of the power slide rail B (403) is the same as that of the power slide rail component (2), the top of the power slide rail B (403) is slidably connected to a tray (404), the side surface of the outer end surface of the tray (404) is provided with a limit slot (405), and the outer bottom of the tray (404) is connected to a calibration component (406).

5. The machine vision-based screw encoder robot according to claim 4, characterized in that: The top of the power slide rail B (403) is slidably connected to a limit support plate, and the calibration component (406) includes two pointers, one of which is connected to the side of the limit support plate, and the other is connected to the outer side of the tray (404), the two pointers are distributed toward each other, and the top of the limit support plate is in contact with the tray (404).

6. The screw code disk manipulator based on machine vision according to claim 1 is characterized in that: The visual component (5) comprises a camera bracket (501) connected to the sliding support plate (3), the other end of the camera bracket (501) is connected to a visual module (502), a camera (503) is connected to the side of the visual module (502), a backlight plate (504) is connected to the side of the power slide rail C (6), and the camera (503) faces the direction of the backlight plate (504).

7. The machine vision-based screw encoder robot according to claim 1, characterized in that: The gripping component (8) comprises a power slide rail D (801) connected to the sliding member B (7), the power slide rail D (801) being identical to the power slide rail component (2), the power slide rail D (801) being slidably connected to a sliding member C (802), a connecting member (803) being connected to a side of the sliding member C (802), a clamping motor (804) being connected to a side of the connecting member (803), and an output end of the clamping motor (804) being connected to two clamping claws (805).

8. The machine vision-based screw encoder robot according to claim 7, characterized in that: The sliding member B (7) is connected to a vertical electric telescopic rod (806) on its side, the telescopic end of the vertical electric telescopic rod (806) is connected to a horizontal electric telescopic rod (807), the horizontal electric telescopic rod (807) and the vertical electric telescopic rod (806) are perpendicular to each other, and the telescopic end of the horizontal electric telescopic rod (807) is connected to a clamping claw (808).

Images