Vision-based single label type paper transfer device

Abstract

The invention provides a single label type paper transfer device based on vision, and the device comprises a vision positioning system which is used for positioning the position of single label type paper; the transfer device comprises a robot, a servo motor and a suction cup, the suction cup is detachably connected with the robot, the servo motor is connected with the suction cup and used for driving the suction cup to rotate, the robot comprises a driving system and a mechanical arm, the suction cup comprises an upper aluminum block, a lower aluminum block and four ball spline linear bearings, and an air cavity is formed in the lower aluminum block; the upper end face of the lower aluminum block is used for being connected with negative pressure, and a first air hole is formed in the lower end face of the lower aluminum block. And the transfer device control system is used for controlling the driving system to drive the mechanical arm to reach a designated position according to the deviation value and controlling the electromagnetic reversing valve to connect or disconnect the vacuum generator and the suction cup. Accurate transfer of single label type paper in the sucking, transferring and stacking processes can be achieved.

Description

Technical Field

[0001] The present application relates to the technical field of paper transport, and in particular to a vision-based single-sheet label paper transport device. Background Art

[0002] Vision plus robotics technology is currently being widely used in various fields of people's production and life, making production operations more intelligent, liberating labor, and playing a vital role in promoting the development of automation technology. At present, in the field of object grabbing and transportation, robots under visual guidance are widely used to grab objects with strong three-dimensional sense, strong texture, and irregular shapes, but they are rarely used for the absorption, transportation, and stacking of single label papers. Due to the characteristics of paper flexibility, the precise positioning of paper, the easy wrinkling and deformation of paper, and the toughness of paper fibers, it is difficult for mechanical mechanisms to meet the technical requirements of single label papers in the process of absorption, transportation, and stacking. Summary of the invention

[0003] The present application aims to solve at least one of the above-mentioned technical problems.

[0004] To this end, the first purpose of the present application is to provide a vision-based single-sheet label paper transfer device.

[0005] To achieve the first purpose of the present application, the technical solution of the first aspect of the present invention provides a vision-based single-sheet label paper transfer device, including: a vision positioning system for locating the position of a single sheet of label paper, the vision positioning system including a high-definition lens and a robot vision system, the high-definition lens is used to take a picture of the single sheet of label paper, and the robot vision system is used to calculate the deviation value between the actual position of the paper and the preset position of the paper based on the photographed information; a transfer device, including a robot, a servo motor and a suction cup, the suction cup is detachably connected to the robot, the servo motor is connected to the suction cup, and is used to drive the suction cup to rotate, the robot includes a drive system and a mechanical arm, the drive system is connected to the mechanical arm, and is used to drive the mechanical arm, and the suction cup It is detachably connected to the robot arm, and the suction cup includes an upper aluminum block, a lower aluminum block, and four ball spline linear bearings. The four ball spline linear bearings connect the upper aluminum block and the lower aluminum block. An air cavity is provided in the lower aluminum block. The upper end surface of the lower aluminum block is used to be connected to the negative pressure. The lower end surface of the lower aluminum block is provided with a first air hole. The transfer device also includes an electromagnetic reversing valve and a vacuum generator. The vacuum generator is connected to the upper end surface of the lower aluminum block. The electromagnetic reversing valve is provided between the lower aluminum block and the vacuum generator, and is used to connect or isolate the air cavity and the vacuum generator. The transfer device control system is respectively connected to the visual positioning system and the transfer device, and is used to control the drive system to drive the robot arm to the specified position according to the deviation value, and control the electromagnetic reversing valve to connect or disconnect the vacuum generator and the suction cup.

[0006] In this technical solution, the vision-based single-sheet label paper transfer device includes a visual positioning system, a transfer device and a transfer device control system. Among them, the visual positioning system includes a high-definition lens and a robot vision system, which can determine the precise position and skewness of the paper, guide the robot to accurately pick up and put down the material, and once the paper stack exceeds the tolerance, the equipment will stop and an alarm will sound to remind the operator so that the operator can intervene manually. The transfer device includes a robot, a servo motor and a suction cup, which can adjust the angle of the suction cup in the XY coordinate plane and ensure the straightness of the suction cup's Z-axis movement, so that the suction cup's format perfectly matches the paper format. The suction cup adopts an air cavity structure design, and the lower end surface is processed with evenly distributed air holes to ensure the flatness of the paper format during the adsorption process. The suction cup is easy to disassemble when connected to the robot, and suction cups with various formats are designed to meet the needs of transferring paper with different formats.

[0007] In addition, the technical solution provided by this application may also have the following additional technical features: In some technical solutions, optionally, there are multiple first air holes, and the multiple first air holes are evenly arranged on the lower end surface of the lower aluminum block.

[0008] In this technical solution, there are multiple first air holes, which are evenly arranged on the lower end surface of the lower aluminum block, thereby ensuring the flatness of the paper format during the adsorption process.

[0009] In some technical solutions, optionally, the suction cup also includes a rubber, which is in contact with the lower end surface of the lower aluminum block, and a plurality of second air holes are provided on the rubber, and each second air hole corresponds to a first air hole.

[0010] In this technical solution, the suction cup also includes a rubber sheet, which is in contact with the lower end surface of the lower aluminum block. The rubber sheet is provided with a plurality of second air holes, and each second air hole corresponds to a first air hole.

[0011] In some technical solutions, optionally, the single label paper transfer device also includes: a connecting piece for connecting the suction cup and the robotic arm.

[0012] In this technical solution, the single label paper transfer device also includes a connecting piece, which is used to connect the suction cup and the robotic arm.

[0013] In some technical solutions, optionally, the suction cup also includes a negative pressure joint, which is arranged on the upper end surface of the lower aluminum block and is used to connect to a vacuum generator.

[0014] In this technical solution, the suction cup also includes a negative pressure joint, which is arranged on the upper end surface of the lower aluminum block and is used to connect to the vacuum generator.

[0015] In some technical solutions, there are multiple robotic arms.

[0016] In this technical solution, there are multiple robotic arms.

[0017] In some technical solutions, optionally, there are multiple drive systems.

[0018] In this technical solution, there are multiple drive systems.

[0019] In some technical solutions, optionally, the robot includes a high-speed parallel robot.

[0020] In this technical solution, the robot includes a high-speed parallel robot, which can meet the needs of high-intensity and high-frequency repetitive motion and ensure production efficiency. Specifically, the standard cycle time of the high-speed parallel robot is less than 0.4s, and the special rotating axis hinge design can easily cope with the needs of high-intensity and high-frequency repetitive motion. It has the functional characteristics of translation along the XYZ axis in three-dimensional space and rotation around the Z axis, and can complete the transfer of 2000-2200 sheets of paper per hour.

[0021] In some technical solutions, optionally, the visual positioning system also includes a display, and the display is connected to the robot vision system.

[0022] In this technical solution, the visual positioning system also includes a display, which is connected to the robot vision system.

[0023] In some technical solutions, optionally, the visual positioning system also includes a server, and the server is connected to the robot vision system.

[0024] In this technical solution, the visual positioning system also includes a server, which is connected to the robot vision system.

[0025] Additional aspects and advantages of the present application will become apparent in the following description or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the main structure of a transfer device according to an embodiment of the present application; Figure 2 This is a partial front view structural diagram of a vision-based single-sheet label paper transfer device according to an embodiment of the present application; Figure 3 This is a partial side structural schematic diagram of a vision-based single-sheet label paper transfer device according to an embodiment of the present application; Figure 4 This is a schematic diagram of a top view of a suction cup according to an embodiment of the present application; Figure 5 For along Figure 4 Schematic diagram of the cross-sectional structure along the AA direction; Figure 6 This is a schematic block diagram of the structure of a vision-based single-sheet label paper transfer device according to an embodiment of the present application; Figure 7 This is a schematic diagram of the working principle of a vision-based single-sheet label paper transfer device according to an embodiment of the present application; Figure 8 This is a schematic block diagram of the structure of a robot according to an embodiment of the present application; Fig. 9 This is a schematic block diagram of the structure of a transfer device according to an embodiment of the present application; Fig.10 This is a schematic block diagram of the structure of a visual positioning system according to an embodiment of the present application.

[0027] in, Figures 1 to 10 The corresponding relationship between the reference numerals and component names in the figure is: 10: Vision-based single-sheet label paper transfer device; 110: Vision positioning system; 112: High-definition lens; 114: Robot vision system; 116: Display; 118: Server; 120: Transfer device; 130: Robot; 132: Drive system; 134: Robotic arm; 140: Servo motor; 160: Suction cup; 162: Upper aluminum block; 164; Lower aluminum block; 166: Ball spline linear bearing; 168: Air cavity; 170: First air hole; 210: Transfer device control system; 220: Rubber; 222: Second air hole; 230: Connector; 240: Negative pressure connector; 250: Solenoid reversing valve; 260: Vacuum generator. DETAILED DESCRIPTION

[0028] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0029] In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present application is not limited to the specific embodiments disclosed below.

[0030] Refer to the following Figures 1 to 10 Describes a vision-based single-sheet label paper transfer device according to some embodiments of the present application.

[0031] like Figure 1 , Figure 3 , Figure 4 , Figure 5 , Figure 6 As shown, an embodiment of the first aspect of the present invention provides a vision-based single-sheet label paper transfer device 10, including: a visual positioning system 110, used to locate the position of a single sheet of label paper, the visual positioning system 110 includes a high-definition lens 112 and a robot vision system 114, the high-definition lens 112 is used to take a picture of the single sheet of label paper, and the robot vision system 114 is used to calculate the deviation value between the actual position of the paper and the preset position of the paper according to the photographing information; a transfer device 120, including a robot 130, a servo motor 140 and a suction cup 160, the suction cup 160 is detachably connected to the robot 130, the servo motor 140 is connected to the suction cup 160, and is used to drive the suction cup 160 to rotate, the robot 130 includes a drive system 132 and a mechanical arm 134, the drive system 132 is connected to the mechanical arm 134, and is used to drive the mechanical arm 134, the suction cup 160 is detachably connected to the mechanical arm 134, and the suction cup 160 includes an upper aluminum block 162, a lower aluminum block 164, and four ball spline linear bearings 166. The four ball spline linear bearings 166 connect the upper aluminum block 162 and the lower aluminum block 164. The lower aluminum block 164 is provided with an air cavity 168. The upper end surface of the lower aluminum block 164 is used to be connected to the negative pressure. The lower end surface of the lower aluminum block 164 is provided with a first air hole 170. The transfer device 120 also includes an electromagnetic reversing valve 250 and a vacuum generator 260. The vacuum generator 260 is connected to the lower aluminum block The upper end surface of 164 is connected, and the electromagnetic reversing valve 250 is arranged between the lower aluminum block 164 and the vacuum generator 260, and is used for connecting or isolating the air cavity 168 and the vacuum generator 260; the transfer device control system 210 is respectively connected to the visual positioning system and the transfer device 120, and is used for controlling the driving system 132 to drive the robot 134 to reach the specified position according to the deviation value, and controlling the electromagnetic reversing valve 250 to connect or disconnect the vacuum generator 260 and the suction cup 160.

[0032] In this embodiment, the vision-based single label paper transfer device 10 includes a visual positioning system 110, a transfer device 120 and a transfer device control system 210. Among them, the visual positioning system 110 includes a high-definition lens 112 and a robot vision system 114, which can determine the precise position and skewness of the paper, guide the robot 130 to accurately pick up and put down the material, and once the paper stack exceeds the tolerance, the equipment will stop and an alarm will sound to remind the operator so that the operator can perform manual intervention. The transfer device 120 includes a robot 130, a servo motor 140 and a suction cup 160, which can realize the angle adjustment of the suction cup 160 in the XY coordinate plane and ensure the straightness of the movement of the suction cup 160 in the Z-axis direction, so that the format of the suction cup 160 is perfectly consistent with the format of the paper. The suction cup 160 adopts an air cavity structure design, and the lower end surface is processed with evenly distributed air holes to ensure the flatness of the paper format during the adsorption process. The suction cup 160 is connected to the robot 130 and is easily disassembled. The suction cup 160 is designed with various sizes to meet the needs of transporting papers of different sizes.

[0033] In some embodiments, optionally, there are multiple first air holes 170, and the multiple first air holes 170 are evenly arranged on the lower end surface of the lower aluminum block 164, thereby ensuring the flatness of the paper format during the adsorption process.

[0034] In some embodiments, optionally, the suction cup 160 further includes a rubber 220 , which is in contact with the lower end surface of the lower aluminum block 164 . The rubber 220 is provided with a plurality of second air holes 222 , and each second air hole 222 corresponds to a first air hole 170 .

[0035] like Figure 2 As shown, in some embodiments, optionally, the single label paper transfer device 120 further includes a connector 230 , and the connector 230 is used to connect the suction cup 160 and the robot arm 134 .

[0036] In some embodiments, optionally, the suction cup 160 also includes a negative pressure connector 240 , which is disposed on the upper end surface of the lower aluminum block 164 for connecting to a vacuum generator 260 .

[0037] In some embodiments, optionally, the number of the robotic arms 134 is plural.

[0038] In some embodiments, optionally, the number of drive systems 132 is plural.

[0039] In some embodiments, the robot 130 optionally includes a high-speed parallel robot, which can meet the requirements of high-intensity and high-frequency repetitive motion and ensure production efficiency. Specifically, the standard cycle time of the high-speed parallel robot is less than 0.4s, and the special rotating axis hinge design can easily cope with the requirements of high-intensity and high-frequency repetitive motion. It has the functional characteristics of translation along the XYZ axis in three-dimensional space and rotation around the Z axis, and can complete the transfer of 2000-2200 sheets of paper per hour.

[0040] like Fig.10 As shown, in some embodiments, optionally, the visual positioning system 110 also includes a display 116 , which is connected to the robot vision system 114 .

[0041] In some embodiments, optionally, the visual positioning system 110 further includes a server 118 , which is connected to the robot vision system 114 .

[0042] like Figures 1 to 10 As shown, according to a specific embodiment of the present application, a single label paper transfer device 10 based on vision is a precise transfer device 120 that can meet the technical requirements of single label paper during the suction, transfer, and stacking process. Working principle of the transfer device 120: Under the guidance of the visual positioning system, the robot 130 moves to the specified position, and the servo motor 140 can adjust the angle of the suction cup 160 to ensure the fit between the suction cup 160 and the paper, and complete the smooth transfer of the paper through the communication and cooperation between the host computer and the robot 130 control system. Compared with the prior art, by using vision, while determining the precise position and skewness of the paper, the transfer device 120 can not only accurately absorb the paper, but also ensure the fit between the suction cup 160 and the front, back, left and right sides of the paper, and the flatness of the paper is guaranteed; the negative pressure cavity formed inside the suction cup 160 can firmly hold the paper, ensuring that the paper and the lower surface of the suction cup 160 fit evenly during the transfer process, preventing the paper from partially losing control and forming bulges; when stacking paper, the transfer device 120 can ensure that the angle skew of the paper is controlled within ±0.3°, and the edge of the paper is ±0.5mm away from the reference, ensuring that the paper is stacked neatly; within the carrying capacity of the robot 130, by replacing the suction cup 160 (the connection structure is easy to disassemble), paper of different widths can be transferred.

[0043] Specifically, the vision-based single-sheet label paper transfer device 10 includes a vision positioning system 110 and a transfer device 120 .

[0044] The visual positioning system 110 is mainly composed of two parts: hardware and software. The hardware includes a high-definition lens 112, a display 116, and a server 118; the software part is mainly a robot vision system 114. It has two main functions: first, to determine the precise position and skewness of the paper, and guide the robot 130 to accurately pick up and put down the paper; second, once the paper stack exceeds the tolerance, the equipment will stop and an alarm will sound to remind the operator so that the operator can intervene manually.

[0045] Robot 130 adopts a high-speed parallel robot with a standard cycle time of less than 0.4s. The special rotating axis hinge design can easily cope with the needs of high-intensity and high-frequency repetitive motion. It has the functional characteristics of translation along the XYZ axes in three-dimensional space and rotation around the Z axis. It can complete the transfer of 2000-2200 sheets of paper per hour.

[0046] like Figure 7 , Figure 8 and Fig. 9 As shown, the working principle of the transfer device control system 210 is: the high-definition lens 112 takes a picture of the paper, the robot vision system 114 compares the photographed information, calculates the deviation value between the actual position of the paper and the preset reference, and transmits it to the host computer. The host computer communicates with the robot 130 control system, and the robot control system issues instructions based on the data of the host computer, and the drive system 132 drives the robot arm 134 to reach the specified position; the electromagnetic reversing valve 250 is actuated to connect or disconnect the vacuum generator 260 and the suction cup 160.

[0047] The actuator is mainly composed of a servo motor 140 and a suction cup 160, and is the main mechanism for taking and placing materials in the transfer device 120. The rotation of the servo motor 140 can realize the angle adjustment of the suction cup 160 in the XY coordinate plane. The upper and lower aluminum blocks 164 of the suction cup 160 are connected by four ball spline linear bearings to ensure the linearity of the movement of the lower aluminum block 164 of the suction cup 160 when the mechanical arm 134 is pressed down, so that the size of the suction cup 160 and the size of the paper are matched; the lower aluminum block 164 of the suction cup 160 adopts an air cavity structure design, the upper end surface is connected to the negative pressure, the lower end surface is processed with evenly distributed air holes, and a piece of rubber 220 with the same size and corresponding air hole position is attached. When sucking paper, a negative pressure cavity is formed inside the lower aluminum block 164, and the paper is firmly adsorbed on the rubber 220 of the lower aluminum block 164 through the air holes at the lower end. Since the air holes are evenly distributed, the flatness of the paper size during the adsorption process is also guaranteed.

[0048] Beneficial effects of this embodiment: 1. The visual positioning system uses high-definition lenses to accurately locate the paper's pick-up and placement positions as well as the paper's skewness.

[0049] 2. The robot adopts a high-speed parallel robot, which can meet the needs of high-intensity and high-frequency repetitive motion and ensure production efficiency.

[0050] 3. The suction cup can be adjusted in the XY coordinate plane and the straightness of the suction cup's Z-axis movement can be ensured, so that the suction cup's format perfectly matches the paper format.

[0051] 4. The suction cup adopts an air cavity structure design, and the lower end surface is processed with evenly distributed air holes to ensure the flatness of the paper format during the adsorption process.

[0052] 5. The suction cup structure is easily disassembled from the robot, and suction cups of various sizes are designed to meet the needs of transporting papers of different sizes.

[0053] In this application, the terms "first", "second", and "third" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance; the term "plurality" refers to two or more, unless otherwise expressly defined. Terms such as "installed", "connected", "connected", and "fixed" should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0054] In the description of the present application, it should be understood that the terms "upper", "lower", "rear", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific orientation, and therefore, should not be understood as a limitation on the present application.

[0055] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0056] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A vision-based single label paper transfer device, characterized in that: include: A visual positioning system (110) is used to locate the position of a single piece of label paper, the visual positioning system (110) comprising a high-definition lens (112) and a robot vision system (114), the high-definition lens (112) is used to take a photo of the single piece of label paper, and the robot vision system (114) is used to calculate a deviation value between an actual position of the paper and a preset position of the paper based on the photographed information; The transfer device (120) comprises a robot (130), a servo motor (140) and a suction cup (160), wherein the suction cup (160) is detachably connected to the robot (130), the servo motor (140) is connected to the suction cup (160) and is used to drive the suction cup (160) to rotate, the robot (130) comprises a drive system (132) and a mechanical arm (134), the drive system (132) is connected to the mechanical arm (134) and is used to drive the mechanical arm (134), the suction cup (160) is detachably connected to the mechanical arm (134), and the suction cup (160) comprises an upper aluminum block (162), a lower aluminum block (164), four ball spline linear bearings (166) , the four ball spline linear bearings (166) connect the upper aluminum block (162) and the lower aluminum block (164); an air cavity (168) is provided in the lower aluminum block (164); the upper end surface of the lower aluminum block (164) is used to be connected to negative pressure; the lower end surface of the lower aluminum block (164) is provided with a first air hole (170); the transfer device (120) further comprises an electromagnetic reversing valve (250) and a vacuum generator (260); the vacuum generator (260) is connected to the upper end surface of the lower aluminum block (164); the electromagnetic reversing valve (250) is provided between the lower aluminum block (164) and the vacuum generator (260) and is used to connect or isolate the air cavity (168) and the vacuum generator (260); The transfer device control system (210) is connected to the visual positioning system (110) and the transfer device (120), respectively, and is used to control the drive system (132) to drive the robot arm (134) to reach a specified position according to the deviation value, and control the electromagnetic reversing valve (250) to connect or disconnect the vacuum generator (260) and the suction cup (160).

2. The vision-based single label paper transfer device according to claim 1, characterized in that: There are a plurality of the first air holes (170), and the plurality of the first air holes (170) are evenly arranged on the lower end surface of the lower aluminum block (164).

3. The vision-based single label paper transfer device according to claim 2, characterized in that: The suction cup (160) further comprises a rubber (220), wherein the rubber (220) is in contact with the lower end surface of the lower aluminum block (164), and a plurality of second air holes (222) are provided on the rubber (220), and each of the second air holes (222) corresponds to one of the first air holes (170).

4. The vision-based single label paper transfer device according to claim 1, characterized in that: Also includes: A connecting member (230) is used to connect the suction cup (160) and the mechanical arm (134).

5. The vision-based single label paper transfer device according to claim 1, characterized in that: The suction cup (160) further comprises a negative pressure joint (240), wherein the negative pressure joint (240) is arranged on the upper end surface of the lower aluminum block (164) and is used for connecting to the vacuum generator (260).

6. The vision-based single label paper transfer device according to claim 1, characterized in that: The number of the mechanical arms (134) is plural.

7. The vision-based single label paper transfer device according to claim 1, characterized in that: The number of the drive systems (132) is plural.

8. The vision-based single label paper transfer device according to claim 1, characterized in that: The robot (130) comprises a high-speed parallel robot.

9. The vision-based single label paper transfer device according to any one of claims 1 to 8, characterized in that: The visual positioning system (110) further includes a display (116), wherein the display (116) is connected to the robot vision system (114).

10. The vision-based single label paper transfer device according to claim 9, characterized in that: The visual positioning system (110) further includes a server (118), wherein the server (118) is connected to the robot vision system (114).

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