Grabbing robot based on image recognition

Abstract

The invention discloses a grabbing robot based on image recognition, and relates to the field of industrial robots, the grabbing robot comprises an equipment base and a clamp seat plate, the clamp seat plate is mounted on the equipment base, a grabbing manipulator is arranged above the clamp seat plate, and the grabbing manipulator is mounted on a movable support; the movable support comprises a mounting plate, a power assembly is arranged on the mounting plate, the power assembly is connected to the grabbing manipulator, and an image recognition camera and an intermittent detection structure are arranged on the two sides of the grabbing manipulator correspondingly; the intermittent detection structure comprises a visual detector and a partition plate, the partition plate is slidably mounted on the mounting plate, and the visual detector is used for detecting the state of a product. The shell product can be conveniently grabbed and rotated through the grabbing manipulator, and meanwhile, the function of manual work or a detection tool is replaced in cooperation with the arranged image recognition camera; the position of the product is judged, and whether the product is correctly placed or not is judged.

Description

Technical Field

[0001] The invention relates to the field of industrial robots, and in particular to a grasping robot based on image recognition. Background Art

[0002] After production, some plastic or metal shells need to be assembled into multiple component shells using screws, rivets, etc. Sometimes this assembly process occurs on multiple surfaces, such as the top surface, side surface, etc. Sometimes it is necessary to move or rotate the product to make these surfaces in a suitable position for assembly. These shells may be heavy and will be grasped and turned by robots.

[0003] Because the product is heavy and difficult to move, the screws, rivets, etc. that are assembled must not be wrong or missed, and the number of times it is moved and rotated must be reduced as much as possible. This requires that it must be grasped and rotated in one go, and the assembly quality must be tested after rotation to reduce rework of the product. Summary of the invention

[0004] The purpose of the present invention is to provide a grasping robot based on image recognition to solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions: a grasping robot based on image recognition, comprising a device base and a fixture base plate, wherein the fixture base plate is mounted on the device base, a grasping manipulator is provided above the fixture base plate, and the grasping manipulator is mounted on a mobile bracket;

[0006] The mobile bracket includes a mounting plate, a power assembly is provided on the mounting plate, the power assembly is connected to a grasping manipulator, and an image recognition camera and an intermittent detection structure are provided on both sides of the grasping manipulator;

[0007] The intermittent detection structure includes a visual detector and a partition plate, wherein the partition plate is slidably mounted on the mounting plate, and the visual detector is used to detect the product status.

[0008] Preferably, the grasping robot comprises a connecting seat, a connecting frame, a clamping structure and a cover plate, one end of the connecting seat is connected to the power assembly, and the other end is connected to the connecting frame, the clamping structure is installed on the connecting frame, and the cover plate covers the root of the clamping structure.

[0009] Preferably, the clamping structure is provided with claw one and claw two, respectively, and claw one and claw two are symmetrically arranged. Claw one and claw two are respectively connected to the output shafts of two cylinders, and the cylinders are fixedly installed on the connecting frame. Buffer pads are provided at the bottom of claw one and claw two.

[0010] Preferably, the movable bracket is provided with a transverse movable track and a vertical movable track, the transverse movable track is installed on the equipment base, the vertical movable track is installed on the transverse movable track, and the mounting plate is fixed on the vertical movable track.

[0011] Preferably, the power assembly includes a motor, a mounting frame and a transmission shaft, the motor is fixedly mounted on the mounting frame, the mounting frame is fixedly mounted on the mounting plate, one end of the transmission shaft is connected to the output shaft of the motor, and the other end is connected to the transmission disk, and the transmission shaft is also provided with a transmission gear set.

[0012] Preferably, the intermittent detection structure includes a horizontal axis, a pressure plate and a cam, one end of the horizontal axis is connected to the transmission gear set, and the other end is connected to the cam, the horizontal axis is installed on the mounting plate through a mounting member, the pressure plate is installed on the horizontal axis, and the protrusion of the cam can press the partition plate during rotation.

[0013] Preferably, an elastic member is provided between the partition plate and the mounting plate.

[0014] Preferably, the image recognition camera comprises a CCD camera, and the CCD camera is connected to a computer system to transmit captured image information.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. The invention can conveniently grab and rotate the shell product through the grabbing manipulator, and at the same time cooperate with the image recognition camera to replace the functions of manual or inspection tools to determine the position of the product and whether the product is placed correctly;

[0017] 2. The intermittent detection mechanism provided in the invention can be linked with the rotation of the grasping robot. After the product is rotated to a certain angle, the visual inspection device can be used to visually inspect the screws, rivets, etc. to determine whether there are any missing parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the structure of the present invention;

[0019] Figure 2 It is a schematic diagram of the structure of the present invention;

[0020] Figure 3 for Figure 2 A magnified view of the structure at inner A;

[0021] Figure 4 This is the structural diagram of the grasping robot;

[0022] Figure 5 It is a schematic diagram of the structure of the present invention.

[0023] In the figure: 1-equipment base; 2-clamp base plate; 3-grasping manipulator; 31-connecting seat; 32-connecting frame; 33-gripping claw structure; 331-claw one; 332-claw two; 333-buffer pad; 334-cylinder; 34-cover plate; 4-movable bracket; 41-mounting plate; 42-vertical moving track; 43-lateral moving track; 5-power assembly; 51-motor; 52-mounting frame; 53-transmission shaft; 54-transmission disk; 55-transmission gear set; 6-intermittent detection structure; 61-visual inspection instrument; 62-partition plate; 621-elastic member; 63-horizontal axis; 64-pressing plate; 65-cam; 7-image recognition camera. DETAILED DESCRIPTION

[0024] 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.

[0025] See also Figures 1 to 5 The present invention provides a technical solution: a grasping robot based on image recognition, comprising a device base 1 and a fixture base plate 2, wherein the fixture base plate 2 is mounted on the device base 1, a grasping manipulator 3 is arranged above the fixture base plate 2, and the grasping manipulator 3 is mounted on a mobile bracket 4;

[0026] The mobile bracket 4 includes a mounting plate 41, on which a power assembly 5 is provided, and the power assembly 5 is connected to the grasping manipulator 3. An image recognition camera 7 and an intermittent detection structure 6 are provided on both sides of the grasping manipulator 3. The grasping manipulator 3 can grasp and rotate the product with the cooperation of the image recognition camera 7 and the intermittent detection structure 6.

[0027] The intermittent detection structure 6 includes a visual detector 61 and a partition plate 62. The partition plate 62 is slidably installed on the mounting plate 41. The visual detector 61 is used to detect the product status. When the visual detector 61 is not working, the partition plate 62 will block the visual detector 61 to provide protection for the visual detector 61.

[0028] In this embodiment, the grasping robot 3 includes a connecting seat 31, a connecting frame 32, a clamping structure 33 and a cover plate 34. One end of the connecting seat 31 is connected to the power assembly 5, and the other end is connected to the connecting frame 32. The clamping structure 33 is installed on the connecting frame 32. The cover plate 34 covers the root of the clamping structure 33. The clamping structure 33 is used to grasp the product.

[0029] In this embodiment, the clamping jaw structure 33 is respectively provided with a clamping jaw 1 331 and a clamping jaw 2 332, and the clamping jaw 1 331 and the clamping jaw 2 332 are symmetrically arranged. The clamping jaw 1 331 and the clamping jaw 2 332 are respectively connected to the output shafts of two cylinders 334, and the cylinder 334 is fixedly installed on the connecting frame 32. The bottom of the clamping jaw 1 331 and the clamping jaw 2 332 are both provided with a buffer pad 333, and the buffering of the buffer pad 333 can prevent the clamping jaw structure 33 from causing damage to the product due to excessive force.

[0030] In this embodiment, the movable bracket 4 is provided with a transverse movable rail 43 and a vertical movable rail 42, the transverse movable rail 43 is installed on the equipment base 1, the vertical movable rail 42 is installed on the transverse movable rail 43, and the mounting plate 41 is fixed on the vertical movable rail 42. The grasping robot 3 is driven to move by the transverse movable rail 43 and the vertical movable rail 42 to grasp products at different positions.

[0031] In this embodiment, the power assembly 5 includes a motor 51, a mounting frame 52 and a transmission shaft 53. The motor 51 is fixedly mounted on the mounting frame 52, and the mounting frame 52 is fixedly mounted on the mounting plate 41. One end of the transmission shaft 53 is connected to the output shaft of the motor 51, and the other end is connected to the transmission disk 54. The transmission shaft 53 is also provided with a transmission gear set 55. The two transmission ratios of the transmission gear set 55 are 1:2, that is, the motor installed on the transmission shaft 53 rotates one circle, and the gear installed on the horizontal axis 63 rotates two circles.

[0032] In this embodiment, the intermittent detection structure 6 includes a transverse axis 63, a pressing plate 64 and a cam 65. One end of the transverse axis 63 is connected to the transmission gear set 55, and the other end is connected to the cam 65. The transverse axis 63 is installed on the mounting plate 41 through a mounting member, and the pressing plate 64 is installed on the transverse axis 63. The protrusion of the cam 65 can press the partition plate 62 during rotation. A switch installed on the mounting plate 41 is provided on the inner side of the pressing plate 64. The switch is used to control the visual inspection instrument 61. When the transverse axis 63 rotates, the pressing plate 64 rotates from a state of pressing the switch to a state of not pressing the switch, and at the same time, the cam 65 rotates from a state of not pressing the partition plate 62 to a state of pressing, that is, when the pressing plate 64 presses the switch, the cam 65 does not press the partition plate 62, and when the pressing plate 64 does not press the switch, the cam 65 presses the partition plate 62.

[0033] In this embodiment, an elastic member 621 is provided between the partition plate 62 and the mounting plate 41 , and the elastic member 621 connects the partition plate 62 to a corresponding groove on the mounting plate 41 .

[0034] In this embodiment, the image recognition camera 7 includes a CCD camera, and the CCD camera is connected to a computer system to transmit captured image information.

[0035] In this embodiment, the joint analysis process of the image recognition camera 7, the visual detector 61 and the computer system is as follows:

[0036] Step 1: continuously collect several images of the product in the standard position, calculate the average pixel value of the corresponding position in each image, and synthesize each product image in the standard state as the standard image;

[0037] Step 2. Collect images from the side of the shell after screws, rivets, etc. are assembled at different positions, calculate the regional feature vector of the sample, and add the feature vector as a training sample to the machine learning classifier for training to obtain the classifier;

[0038] Step 3. Collect the current image and compare it with the standard image to determine whether the position of the product is in the standard position;

[0039] Step 4. Collect the current image and compare it with the standard image, filter out unqualified images, compare the unqualified images with the images in the classifier, obtain information on whether there are any missing screws in the product assembly, and provide the location information of the missing screws.

[0040] Working principle: first place the shell product on the fixture seat 2, assemble screws and other accessories on the front of the product, and after completing the assembly of one side, grab the product by moving the grasping robot 3 downward, and drive the product to rotate 90° through the motor 51. The product surface originally located on the front is rotated to the side facing the visual inspection instrument 61. At this time, when the horizontal axis 63 rotates 180°, the visual inspection instrument 61 will stop working and the partition plate 62 will move down to form a protection. Then, after it is rotated into place, the visual inspection instrument 61 will be restarted to determine the screw position of the product assembly surface. At this time, the front of the product after rotation can be assembled normally. Finally, after all surfaces are assembled, the product is removed by the grasping robot 3.

[0041] It is known from common technical knowledge that the present invention can be implemented by other embodiments that do not deviate from its spirit or essential features. Therefore, the above disclosed embodiments are only illustrative in all respects and are not exclusive. All changes within the scope of the present invention or within the scope equivalent to the present invention are included in the present invention.

Claims

1. A grasping robot based on image recognition, characterized in that: It comprises an equipment base (1) and a fixture base plate (2), wherein the fixture base plate (2) is mounted on the equipment base (1), a grabbing manipulator (3) is provided above the fixture base plate (2), and the grabbing manipulator (3) is mounted on a mobile bracket (4); The mobile bracket (4) comprises a mounting plate (41), a power assembly (5) is provided on the mounting plate (41), the power assembly (5) is connected to a grasping manipulator (3), and an image recognition camera (7) and an intermittent detection structure (6) are respectively provided on both sides of the grasping manipulator (3); The intermittent detection structure (6) comprises a visual detector (61) and a partition plate (62), wherein the partition plate (62) is slidably mounted on the mounting plate (41), and the visual detector (61) is used to detect the status of the product.

2. The image recognition-based grasping robot according to claim 1, characterized in that: The grasping manipulator (3) comprises a connecting seat (31), a connecting frame (32), a clamping claw structure (33) and a cover plate (34); one end of the connecting seat (31) is connected to a power assembly (5), and the other end is connected to the connecting frame (32); the clamping claw structure (33) is mounted on the connecting frame (32); and the cover plate (34) covers the root of the clamping claw structure (33).

3. The image recognition-based grasping robot according to claim 2, characterized in that: The clamping jaw structure (33) is provided with a clamping jaw 1 (331) and a clamping jaw 2 (332), respectively. The clamping jaw 1 (331) and the clamping jaw 2 (332) are symmetrically arranged. The clamping jaw 1 (331) and the clamping jaw 2 (332) are respectively connected to the output shafts of two cylinders (334), and the cylinders (334) are fixedly mounted on the connecting frame (32). The bottoms of the clamping jaw 1 (331) and the clamping jaw 2 (332) are both provided with buffer pads (333).

4. The image recognition-based grasping robot according to claim 1, characterized in that: The movable bracket (4) is provided with a transverse movable track (43) and a vertical movable track (42); the transverse movable track (43) is mounted on the equipment base (1); the vertical movable track (42) is mounted on the transverse movable track (43); and the mounting plate (41) is fixed on the vertical movable track (42).

5. The image recognition-based grasping robot according to claim 1, characterized in that: The power assembly (5) comprises a motor (51), a mounting frame (52) and a transmission shaft (53); the motor (51) is fixedly mounted on the mounting frame (52); the mounting frame (52) is fixedly mounted on the mounting plate (41); one end of the transmission shaft (53) is connected to the output shaft of the motor (51), and the other end is connected to the transmission disk (54); the transmission shaft (53) is also provided with a transmission gear set (55).

6. The image recognition-based grasping robot according to claim 5, characterized in that: The intermittent detection structure (6) comprises a transverse shaft (63), a pressing plate (64) and a cam (65); one end of the transverse shaft (63) is connected to the transmission gear set (55), and the other end is connected to the cam (65); the transverse shaft (63) is mounted on the mounting plate (41) via a mounting member; the pressing plate (64) is mounted on the transverse shaft (63); and the protruding portion of the cam (65) can press the partition plate (62) during rotation.

7. The image recognition-based grasping robot according to claim 6, characterized in that: An elastic member (621) is provided between the partition plate (62) and the mounting plate (41).

8. The image recognition-based grasping robot according to claim 1, characterized in that: The image recognition camera (7) comprises a CCD camera, and the CCD camera is connected to a computer system to transmit captured image information.

Images