3D (three-dimensional) visual guidance active track guidance equipment

Abstract

The invention discloses a 3D visual guiding active track guiding device which comprises a protection mechanism, a transplanting module, a dust collecting mechanism, an industrial automatic door and a product jig, the transplanting module comprises an electric sliding rail, an electric sliding seat and a 3D visual camera, a manipulator is arranged on one side of the 3D visual camera, and the driving end of the manipulator is connected with a force control unit. According to the active track guiding equipment for 3D visual guidance, the electric sliding seat drives the 3D visual camera to move along the electric sliding rail to scan a product fixed on the product jig, so that a point cloud generation track is obtained, and the track can be locally changed according to local change generated by a point cloud special effect; and a first electric telescopic rod and a second electric telescopic rod are controlled to drive corresponding movable limiting seats to move to limit products of different sizes, a manipulator drive is controlled to machine force control unit products, and a dust extractor is synchronously controlled to extract dust generated during product machining, so that the intelligent level of the device is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of 3D vision guidance, and in particular to a 3D vision guided active trajectory guidance device. Background Art

[0002] 3D machine vision is a technology used for three-dimensional measurement and inspection, including methods such as laser profiling, stereo imaging, fringe projection, and time of flight. These technologies provide rich data collection, improve measurement stability, accuracy, and repeatability, and allow multi-sensor stitching. In industrial automation, 3D vision enhances the robot's environmental perception ability, improves production efficiency and product quality, which can be summarized as: computational graphics + computer vision + artificial intelligence = 3D vision. 3D vision technology uses a 3D camera to collect the three-dimensional coordinate information of each point in the field of view, and restores the three-dimensional stereoscopic imaging through an algorithm, which will not be easily affected by the external environment and complex light. After searching, it was found that the typical 3D visual trajectory guiding device in the prior art is such as the publication number CN219311280U, which is an I-beam cutting robot based on 3D visual trajectory guidance, including a six-axis robot body and an intelligent guided cutting system, the end of the driving arm of the six-axis robot body is fixedly connected to a mounting rod, and a cutting gun is installed at one end of the mounting rod through a clamp; the intelligent guided cutting system includes a human-computer interaction unit and an overall control system, the overall control system includes a hand-eye calibration module, a composite vision control processing module, a data processing module, a trajectory planning module, a motion control module, a device control module and a storage module; the human-computer interaction unit covers a hand-eye calibration module, a composite vision control processing module, a data processing module, a trajectory planning module, a motion control module and a device control module; its main feature is that it can accurately cut I-beams, and compared with cutting with a handheld cutting gun, it is not easy to have problems such as uneven cutting plane and large cutting size errors.

[0003] For example, publication number CN113070876A is a 3D vision-based robot dispensing path guidance and correction method. The method is based on a computer 3D vision processing system, establishes a tool coordinate system through the robot, calibrates the computer 3D vision processing system and the tool coordinate system, and then performs 3D scanning and imaging of the physical object fixed on the workbench, and marks three fixed feature points on the scanned graphics, and converts them into absolute value coordinates of the robot, and establishes a user coordinate system based on the three absolute value coordinates. Then the robot teaches and records the trajectory of the physical object based on the user coordinates. When the position of the physical object changes, the computer 3D vision processing system re-scans the image and marks the three fixed feature points that were originally calibrated. The three fixed feature points are matched with the originally established user coordinate system, and the original recorded trajectory path is automatically updated to the new position and posture of the physical object, thereby completing the trajectory correction and guidance.

[0004] In summary, the existing 3D visual trajectory guidance devices on the market all require manual editing and program injection into the robot, and require manual programming templates, and have a low level of intelligence. In view of the above problems, the existing equipment needs to be improved. Summary of the invention

[0005] The purpose of the present invention is to provide a 3D vision-guided active trajectory guidance device to solve the problems raised in the above background technology that the existing 3D vision trajectory guidance devices on the market all require manual editing and program injection into the robot, and require artificial programming templates and have a low level of intelligence.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a 3D vision-guided active trajectory guidance device, including a protection mechanism, a transplanting module, a dust collection mechanism, an industrial automatic door and a product fixture,

[0007] The transplanting module includes an electric slide rail, an electric slide seat and a 3D vision camera, and the electric slide seat is connected to the electric slide rail, and a 3D vision camera is installed at the bottom of the electric slide seat. A manipulator is arranged on one side of the 3D vision camera, and the driving end of the manipulator is connected to the force control unit. The product fixture is arranged below the force control unit, and the product fixture includes a bearing plate, a fixed limit seat, a first electric telescopic rod, a second electric telescopic rod and a movable limit seat. The first electric telescopic rod is arranged on the top of the bearing plate, and the second electric telescopic rod is arranged on one side of the first electric telescopic rod. The first electric telescopic rod and the second electric telescopic rod are both connected with a movable limit seat, and a fixed limit seat is arranged on the opposite side of the movable limit seat. The movable limit seat is slidably connected to the top of the bearing plate, and the cross-sections of the movable limit seat and the fixed limit seat are both L-shaped.

[0008] Preferably, the protection mechanism comprises a shell, a foot cup and a three-color lamp, and the foot cup is symmetrically arranged at the bottom of the shell, and the three-color lamp is arranged at the top of the shell.

[0009] Preferably, the protection mechanism further includes an electric control cabinet, an operation panel and a teaching pendant, and the electric control cabinet is mounted on one side wall of the shell, and the operation panel and the teaching pendant are mounted on an adjacent side wall of the shell.

[0010] Preferably, the electric slide rail is installed on the inner top of the shell, and the shell is provided with an observation window.

[0011] Preferably, the manipulator and the force control unit are both arranged inside the housing, and the manipulator is a three-axis structure.

[0012] Preferably, the dust collection mechanism comprises a frame, a collection box, a dust extractor and a dust filter plate, and the frame is connected to the collection box, the collection box is connected to the dust extractor, and a dust filter plate is arranged inside the collection box.

[0013] Preferably, the dust extractors are symmetrically arranged in two groups, and the dust extractors are mounted on a frame.

[0014] Preferably, the dust filter plate is inclined, and the dust filter plate is engaged inside the collection box.

[0015] Preferably, the dust collection mechanism further includes an exhaust window, and the exhaust window is opened on one side of the frame.

[0016] Preferably, the industrial automatic door is installed on a side wall of the shell, and the industrial automatic door is arranged opposite to the electric control cabinet.

[0017] Compared with the prior art, the invention has the following beneficial effects: the 3D vision-guided active trajectory guidance device,

[0018] The present invention can effectively solve the problem that the existing 3D visual trajectory guiding equipment on the market needs manual editing and program injection for the robot, and needs artificial programming templates, and has a low intelligence level through the coordinated use of the transplanting module, the manipulator and the force control unit. The electric slide drives the 3D visual camera to move along the electric slide rail to scan the product fixed on the product fixture, and thereby obtain the point cloud generation trajectory. The trajectory can be locally changed according to the local changes caused by the point cloud special effects. The first electric telescopic rod and the second electric telescopic rod are controlled to drive the corresponding mobile limit seat to move to limit products of different sizes. The manipulator is controlled to drive the force control unit product to be processed, and the dust extractor is synchronously controlled to extract the dust generated during the product processing, thereby improving the intelligence level of the device and enriching the functionality of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is an overall structural diagram of the connection relationship between a transplanting module, a manipulator, a force control unit and a dust collection mechanism of a 3D vision-guided active trajectory guidance device of the present invention;

[0020] Figure 2 It is an isometric view of a 3D vision-guided active trajectory guidance device of the present invention;

[0021] Figure 3 This is an overall structural diagram of the connection relationship between a transplanting module, a manipulator, a force control unit and a dust collection mechanism of a 3D vision-guided active trajectory guidance device of the present invention;

[0022] Figure 4 This is a schematic diagram of the overall structure of a 3D vision-guided active trajectory guidance equipment product fixture of the present invention;

[0023] Figure 5 It is an isometric view of a 3D vision-guided active trajectory guidance device of the present invention;

[0024] Figure 6 This is a schematic diagram of the overall structure of a dust collection mechanism of a 3D vision-guided active trajectory guidance device of the present invention.

[0025] In the figure: 1. protection mechanism; 101. shell; 102. foot cup; 103. three-color light; 104. electric control cabinet; 105. operation panel; 106. teaching pendant; 2. transplanting module; 201. electric slide rail; 202. electric slide seat; 203. 3D visual camera; 3. manipulator; 4. force control unit; 5. dust collection mechanism; 501. rack; 502. collection box; 503. dust extractor; 504. dust filter plate; 505. exhaust window; 6. industrial automatic door; 7. observation window; 8. product fixture; 801. load-bearing plate; 802. fixed limit seat; 803. first electric telescopic rod; 804. second electric telescopic rod; 805. movable limit seat. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] See also Figure 1-6 The present invention provides a technical solution: a 3D vision-guided active trajectory guidance device,

[0028] Embodiment 1

[0029] like Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5As shown, the transplanting module 2 includes an electric slide rail 201, an electric slide seat 202 and a 3D vision camera 203, and the electric slide seat 202 is connected to the electric slide rail 201, and the 3D vision camera 203 is installed at the bottom of the electric slide seat 202, a manipulator 3 is arranged on one side of the 3D vision camera 203, and the driving end of the manipulator 3 is connected to the force control unit 4, the product fixture 8 is arranged below the force control unit 4, and the product fixture 8 includes a bearing plate 801, a fixed limit seat 802, a first electric telescopic rod 803, a second electric telescopic rod 804 and a movable limit seat 805, a first electric telescopic rod 803 is arranged on the top of the bearing plate 801, and the first electric A second electric telescopic rod 804 is provided on one side of the telescopic rod 803, and a movable limit seat 805 is connected to the first electric telescopic rod 803 and the second electric telescopic rod 804, and a fixed limit seat 802 is provided on the opposite side of the movable limit seat 805, and the movable limit seat 805 is slidably connected to the top of the supporting plate 801, and the cross-sections of the movable limit seat 805 and the fixed limit seat 802 are both L-shaped, which is convenient for better fitting the shape of the product, thereby limiting it. In addition, the extension length of the first electric telescopic rod 803 and the second electric telescopic rod 804 is controlled to meet the limiting requirements of products of different sizes, thereby improving the flexibility of the device structure.

[0030] In a further embodiment, the protective mechanism 1 includes a shell 101, a foot cup 102 and a three-color light 103, and the foot cup 102 is symmetrically arranged at the bottom of the shell 101, and the three-color light 103 is arranged on the top of the shell 101. The foot cup 102 plays an auxiliary supporting role, and the three-color light 103 is used to display the usage status of the device.

[0031] In a further embodiment, the protection mechanism 1 also includes an electric control cabinet 104, an operation panel 105 and a teach pendant 106, and the electric control cabinet 104 is installed on a side wall of the outer shell 101, and the operation panel 105 and the teach pendant 106 are installed on an adjacent side wall of the outer shell 101. The teach pendant 106 is a human-computer interaction interface, and all operations of the manipulator 3 are basically completed through the teach pendant 106, such as manually operating the manipulator 3; writing, testing and running robot programs; setting and checking the status settings and position of the manipulator 3, etc.

[0032] In a further embodiment, the electric slide rail 201 is installed on the inner top of the housing 101 , and an observation window 7 is provided on the housing 101 , through which the staff can view and record the processing process of the product.

[0033] In a further embodiment, the manipulator 3 and the force control unit 4 are both disposed inside the housing 101 , and the manipulator 3 is a three-axis structure.

[0034] In a further embodiment, the industrial automatic door 6 is installed on a side wall of the housing 101 , and the industrial automatic door 6 is arranged opposite to the electric control cabinet 104 .

[0035] Specifically, in actual work, firstly, the power supply is connected, and then the industrial automatic door 6 is controlled to open through the operation panel 105, and then the workpiece is placed on the fixed limit seat 802, and then the teaching pendant 106 is turned on, and the device is started through the operation panel 105, and the electric slide seat 202 drives the 3D vision camera 203 to move at a constant speed along the electric slide rail 201. During the movement, the 3D vision camera 203 scans the product placed on the fixed limit seat 802, and thereby obtains the point cloud generation trajectory, and the trajectory can be locally changed according to the local changes caused by the point cloud special effects. After scanning, the first electric telescopic rod 803 and the second electric telescopic rod 804 are controlled by the electric control cabinet 104. The first electric telescopic rod 803 pushes a group of mobile limit seats 805 connected thereto to move until it contacts one side of the product. At the same time, the second electric telescopic rod 804 pushes a group of mobile limit seats 805 connected thereto to move until it contacts the other side of the product, thereby achieving the fixation of the product, and then the manipulator 3 moves the force control unit 4 to the required position to process the product, and at the same time, the dust generated during the processing is collected and stored by the dust collection mechanism 5.

[0036] Embodiment 2

[0037] This embodiment is a further description of the above embodiment. It should be understood that this embodiment includes all the aforementioned technical features and is further described in detail.

[0038] like Figure 1 , Figure 3 and Figure 6 As shown, in a further embodiment, the dust collection mechanism 5 includes a frame 501, a collection box 502, a dust extractor 503 and a dust filter plate 504, and the frame 501 is connected to the collection box 502, the collection box 502 is connected to the dust extractor 503, and a dust filter plate 504 is arranged inside the collection box 502.

[0039] In a further embodiment, two groups of dust extractors 503 are symmetrically arranged, and the dust extractors 503 are installed on the frame 501 .

[0040] In a further embodiment, the dust filter plate 504 is inclined, and the dust filter plate 504 is engaged inside the collection box 502 .

[0041] In a further embodiment, the dust collecting mechanism 5 further includes an exhaust window 505 , and the exhaust window 505 is opened on one side of the frame 501 .

[0042] Specifically, in the actual working process, the dust extractor 503 extracts the dust generated in the product processing process through the connected dust extraction pipe and the dust extraction head, and discharges the extracted dust into the collection box 502 below the dust filter plate 504. The airflow discharged into the collection box 502 together with the dust is filtered by the dust filter plate 504, then floats upward and is discharged to the outside through the exhaust window 505.

[0043] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A 3D vision-guided active trajectory guidance device, comprising a protection mechanism (1), a transplanting module (2), a dust collection mechanism (5), an industrial automatic door (6) and a product fixture (8), characterized in that: The transplanting module (2) comprises an electric slide rail (201), an electric slide seat (202) and a 3D vision camera (203), wherein the electric slide seat (202) is connected to the electric slide rail (201), and the 3D vision camera (203) is installed at the bottom of the electric slide seat (202). A manipulator (3) is arranged on one side of the 3D vision camera (203), and the driving end of the manipulator (3) is connected to the force control unit (4). The product fixture (8) is arranged below the force control unit (4), and the product fixture (8) comprises a bearing plate (801), a fixed limit seat (802), a first electric telescopic rod (803), and a second electric A telescopic rod (804) and a movable limiting seat (805), wherein a first electric telescopic rod (803) is arranged on the top of the bearing plate (801), and a second electric telescopic rod (804) is arranged on one side of the first electric telescopic rod (803), the first electric telescopic rod (803) and the second electric telescopic rod (804) are both connected with a movable limiting seat (805), and a fixed limiting seat (802) is arranged on the opposite side of the movable limiting seat (805), the movable limiting seat (805) is slidably connected to the top of the bearing plate (801), and the cross sections of the movable limiting seat (805) and the fixed limiting seat (802) are both L-shaped.

2. The 3D vision-guided active trajectory guidance device according to claim 1, characterized in that: The protection mechanism (1) comprises a housing (101), a foot cup (102) and a three-color lamp (103), wherein the bottom of the housing (101) is symmetrically provided with the foot cup (102), and the top of the housing (101) is provided with the three-color lamp (103).

3. The 3D vision-guided active trajectory guidance device according to claim 1, characterized in that: The protection mechanism (1) further comprises an electric control cabinet (104), an operation panel (105) and a teaching pendant (106), wherein the electric control cabinet (104) is mounted on a side wall of the housing (101), and the operation panel (105) and the teaching pendant (106) are mounted on an adjacent side wall of the housing (101).

4. The 3D vision-guided active trajectory guidance device according to claim 1, characterized in that: The electric slide rail (201) is installed on the inner top of the housing (101), and the housing (101) is provided with an observation window (7).

5. The 3D vision-guided active trajectory guidance device according to claim 1, characterized in that: The manipulator (3) and the force control unit (4) are both arranged inside the housing (101), and the manipulator (3) is a three-axis structure.

6. The 3D vision-guided active trajectory guidance device according to claim 1, characterized in that: The dust collection mechanism (5) comprises a frame (501), a collection box (502), a dust extractor (503) and a dust filter plate (504), wherein the frame (501) is connected to the collection box (502), the collection box (502) is connected to the dust extractor (503), and the dust filter plate (504) is arranged inside the collection box (502).

7. The 3D vision-guided active trajectory guidance device according to claim 6, characterized in that: The dust extractors (503) are symmetrically arranged in two groups, and the dust extractors (503) are installed on the frame (501).

8. The 3D vision-guided active trajectory guidance device according to claim 6, characterized in that: The dust filter plate (504) is inclined, and the dust filter plate (504) is engaged inside the collection box (502).

9. The 3D vision-guided active trajectory guidance device according to claim 1, characterized in that: The dust collection mechanism (5) further comprises an exhaust window (505), and the exhaust window (505) is opened on one side of the frame (501).

10. The 3D vision-guided active trajectory guidance device according to claim 1, characterized in that: The industrial automatic door (6) is installed on a side wall of the housing (101), and the industrial automatic door (6) is arranged opposite to the electric control cabinet (104).

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