Feeding device based on machine vision and robot

Abstract

The invention relates to a feeding device based on machine vision and a robot, which comprises a placement seat, the head of the placement seat is rotatably connected with a turntable, the turntable is provided with an arc-shaped arm, the arc-shaped arm is rotatably connected with a lifting arm, the head of the lifting arm is rotatably connected with a translation arm, and the translation arm is provided with a transfer table; a visual detection camera is installed on the lower side of the transfer table, the visual detection camera is in the prior art, and a plurality of suction cups are evenly arranged on the lower side of the transfer table. A magnetic field can be quickly generated through the control piece, so that each structural component quickly moves, each suction cup is independently controlled, the error-tolerant rate is high, the suction cups are instantly vacuumized to generate suction force, the stroke stability of the change table and the connecting arm is high, deviation and response are not prone to occurring, and jamming and faults are not prone to occurring.

Description

Technical Field

[0001] The invention belongs to the field of feeding devices, in particular to a feeding device based on machine vision and robots. Background Art

[0002] A robot is a machine device that performs work automatically; it can accept human commands, run pre-programmed programs, or act according to principles formulated using artificial intelligence technology; its task is to assist or replace human work, such as in manufacturing, construction, or dangerous work.

[0003] The suction cup of the existing feeding device has a slow response speed, and the switch device of the suction cup is prone to deviation due to its low stroke stability and high failure rate, which makes it easy for the suction cup to get stuck, resulting in a long time for the suction cup to hold the object. Therefore, a feeding device based on machine vision and robots is proposed. Summary of the invention

[0004] The purpose of this section is to summarize some aspects of 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 this application 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] In view of the following technical problems in the prior art: the suction cup responds slowly, and the switch device of the suction cup is prone to deviation due to low travel stability, has a high failure rate and is prone to jamming, which causes the suction cup to take a long time to hold the object.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: a loading device based on machine vision and robots, comprising a placement seat, the head of the placement seat is rotated to a turntable, an arc arm is installed on the turntable, the arc arm is rotated to a lifting arm, the head of the lifting arm is rotated to a translation arm, a transfer table is installed on the translation arm, a visual inspection camera is installed on the lower side of the transfer table, the visual inspection camera is a prior art, a plurality of suction cups are evenly arranged on the lower side of the transfer table, an exchange cylinder is installed on the head of the suction cup, the exchange cylinder is connected to an air distribution pipeline through a branch pipeline, the air distribution pipeline is connected to a vacuum filter through a pipeline, the vacuum filter is connected to a vacuum generator through a pipeline, the vacuum generator is connected to an electromagnetic valve through a pipeline, the electromagnetic valve is connected to a filter pressure reducing valve through a pipeline, and the filter pressure reducing valve is connected to a compressor through a pipeline;

[0007] An isolating ring is arranged at the tail of the inner side of the exchange cylinder, an outer cylinder is arranged at the head of the inner side of the exchange cylinder, a connecting arm is arranged at the tail of the outer cylinder, the connecting arm is connected to a plug, and the plug is movably connected to the isolating ring.

[0008] As a preferred technical solution of a feeding device based on machine vision and robots, it includes an outer cylinder, a power component and an auxiliary component. A control component is installed in the outer cylinder, and the control component includes a generating component. The power component is connected to a shaking seat, and the shaking seat includes a magnet. The control component is connected to electricity to generate a force with the power component to force the power component to operate, which is beneficial for the power component to drive the auxiliary component from the starting point to the ending point. The auxiliary component includes a connecting arm. After starting, the final point reached by the part of the connecting arm is the ending point, and the point where the auxiliary component is located before starting is the starting point.

[0009] The generator is made of wound copper wire.

[0010] As an optimal technical solution for a loading device based on machine vision and robots, the control component removes power and suspends operation, the power component works and controls the auxiliary component to move back and forth between the starting point and the end point, the power component includes a rocking seat, the auxiliary component is connected to the variable table, one end of the rocking seat is connected to the outer cylinder using a center rod 1, the rocking seat swings around the center rod 1, and the other end of the rocking seat is variably connected to the variable table.

[0011] As a preferred technical solution for a loading device based on machine vision and robots, the material of the variable table includes copper and aluminum, a stroke cavity is recessed between the variable table and the outer cylinder, the auxiliary component also includes a deformable part, a guide cylinder is preset on the variable table, the deformable part is surrounded by the outer periphery of the guide cylinder, the deformable part is placed in the stroke cavity, one end of the connecting arm is assembled on the inner side of the guide cylinder, and the other end of the connecting arm passes through the inner side of the stroke cavity and reaches the outside of the outer cylinder. During the entire operation of the auxiliary component, the deformable part maintains potential energy, and the potential energy of the deformable part at the end point of the auxiliary component is greater, and the deformable part can push the end point to the starting point.

[0012] As a preferred technical solution for a loading device based on machine vision and robots, the connecting arm corresponds to the inner side of the guide cylinder, and the guide cylinder can guide the connecting arm to complete the assembly, making the assembly faster and more accurate.

[0013] As a preferred technical solution for a feeding device based on machine vision and robots, when the variable table can be magnetized, the shaking seat can move with the variable table.

[0014] As a preferred technical solution for a feeding device based on machine vision and robots, the rocking seat is shaped like a rugby ball, and a wheel is screwed to the end of the rocking seat facing the changing table, so that the resistance between the rocking seat and the changing table is very small.

[0015] As a preferred technical solution for a feeding device based on machine vision and robots, a clamping piece is arranged on the inner side of the guide cylinder, and a connecting arm is connected to the guide cylinder by means of the clamping piece, and the connecting arm connects a structure that needs to move back and forth.

[0016] As a preferred technical solution for a loading device based on machine vision and robots, a stop plate is arranged on the outer cylinder, and a constraint groove is preset on the connecting arm. The stop plate extends into the constraint groove. When the connecting arm moves from the end point to the starting point, the auxiliary component will first reach the middle point and then stop at the starting point. The starting point is between the middle point and the end point. During the operation of the connecting arm, when the connecting arm moves from the starting point to the middle point, the stop plate hinders the movement of the auxiliary component, causes the snap-on part to fall off, and causes the connecting arm on the variable table to slide off. That is, the stop plate brakes the auxiliary component and causes the snap-on part to fall off under the impact, so that the connecting arm can be replaced easily. However, a plug with limited travel is arranged on the connecting arm of this technical solution, and it will return before reaching the stop plate.

[0017] As an optimal technical solution for a feeding device based on machine vision and robots, a sliding cylinder, a deformable part 2 and an adjusting seat are arranged on the inner side of the outer cylinder. The deformable part 2 is between the sliding cylinder and the adjusting seat. The sliding cylinder constrains the movement of the shaking seat so that the head of the shaking seat will not stop in a vertical posture. A thread is arranged on the adjusting seat, and an inner thread is also preset on the outer cylinder. The adjusting seat is threadedly connected to the outer cylinder. The adjusting seat can control the length of the deformable part 2, thereby controlling the size of the preload of the deformable part 2.

[0018] As an optimal technical solution for a feeding device based on machine vision and robots, it also includes a connecting rod, one end of which is movably connected to the sliding cylinder, and the other end of the connecting rod is fixedly connected to a rocking seat. When the two rocking seats are close to each other, the two connecting rods move close to each other along the sliding cylinder. The connecting rod is used to connect the sliding cylinder to the rocking seat to extend the torque. After the power is cut off, the rocking seat is affected by the deformation member 2 and deviates from the central axis of the outer cylinder. The sliding cylinder is a magnet, and the polarities of the surfaces opposite to the rocking seat are different. The sliding cylinder may not be a magnet.

[0019] As an optimal technical solution for a feeding device based on machine vision and robots, it also includes a connecting rod 2, a variable rod 1, a deformable member 3, a deformable member 4, a support shell and a connecting seat. The connecting rod 2 and the support shell are assembled to the inner side of the outer cylinder. The other end of the connecting rod 2 extends out of the support shell and connects the connecting seat and the variable rod 1 one by one. One end of the variable rod 1 extends outside the outer cylinder. A through hole is recessed in the middle of the adjustment seat. The variable rod 1 passes through the through hole. The support shell is connected to the connecting seat by means of the deformable member 3. The deformable member 4 is arranged between the outer cylinder and the variable rod 1. When the control member is connected to electricity, the connecting rod 1 drives the connecting rod 2 and the variable rod 1 to move together. The deformable member 3 and the deformable member 4 shorten to accumulate potential energy. When the control member cuts off electricity, the deformable member 3 and the deformable member 4 release potential energy to push the connecting rod 2 and the variable rod 1 to move.

[0020] A plurality of linear marks are preset on the change rod 1, and the linear marks indicate the protruding size of the connecting arm.

[0021] As an optimal technical solution for a feeding device based on machine vision and robots, a clamping component is installed in a support shell, and the clamping component includes a constraint seat, a spring, a plastic part, a maintaining platform and a control component. A connecting rod 2 extends from the constraint seat, and the support shell and the constraint seat jointly construct an active cavity. The shape of the active cavity is trapezoidal, and the spring is installed in the active cavity and clamped on the maintaining platform. The end of the active cavity with a smaller size faces the variable platform, and the plastic part is installed at the end of the active cavity with a larger size. One end of the plastic part is connected to the constraint seat, and the other end of the plastic part is connected to the maintaining platform. The spring can connect the connecting rod 2 to block the movement of the variable platform and stop it. During the control of the control component, the spring releases the blockage of the connecting rod 2.

[0022] The reed catches the groove of the connecting rod 2 so that it cannot move.

[0023] As an optimal technical solution for a feeding device based on machine vision and robots, the control component includes a swing arm, a center rod 2 and a starting unit. The swing arm is screwed to the outer cylinder using the center rod 2. The starting unit is installed at one end of the swing arm. The starting unit is pressed to drive one end of the swing arm to rotate around the center rod 2. The other end of the swing arm controls the spring to move close to the center rod 2, so that the constraint of the connecting rod 2 is removed. The starting unit includes a control arm and a deformation member 5. The control arm is arranged on the outer cylinder. The control arm is connected to the outer cylinder using the deformation member 5. During the compression of the control arm, the deformation member 5 releases potential energy to force the control arm to return to its original position and pull the swing arm back to its original position. The spring again constrains the connecting rod 2, so that the bottom of the connecting rod 2 cannot move to the variable platform, so that the connecting rod 2 cannot be squeezed to the variable platform, the connecting arm and the plug to release the closure of the isolation ring.

[0024] As an optimal technical solution for a loading device based on machine vision and robots, the shaking seat is composed of two pieces and installed in a mirror image. The shaking seat is screwed on a center rod. The control part is connected to the electric drive to drive the shaking seat to approach the center line of the outer cylinder, and the variable platform is compressed to deviate from the center rod, and the connecting arm moves from the starting point to the end point.

[0025] As a preferred technical solution for a loading device based on machine vision and robots, after the connecting arm reaches the end point, the power of the control part is removed. Because the power of the control part is removed, the shaking seat loses the force of the control part, and the repulsive force between the two shaking seats forces the two shaking seats to move away from the center line of the outer cylinder. At this time, the deformable part 1 is in a contracted state, and the deformable part 1 releases potential energy to press the variable platform to approach the center rod 1 until the variable platform touches the shaking seat, and the connecting arm returns to the starting point.

[0026] The beneficial effects of the feeding device based on machine vision and robot of the present invention are as follows: the magnetic field can be generated at the speed of light through the control part, so that each structural component can move quickly, each suction cup is independently controlled, the fault tolerance rate is high, the suction cup is instantly vacuumed to generate suction, the travel stability of the variable platform and the connecting arm is high, and it is not easy to deviate, respond to blocks, freeze, or fail.

[0027] By releasing the connection of the plug and then emergency braking the guide cylinder, the connecting arm can be separated from the clamping part and the guide cylinder under the impact, so that the connection arm can be quickly separated and replaced. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0029] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0030] Figure 2 It is a structural schematic diagram of the negative pressure structure of the present invention;

[0031] Figure 3 It is a schematic diagram of the positional relationship between the suction cup and the exchange cylinder of the present invention;

[0032] Figure 4 It is a schematic diagram of the internal structure of the outer cylinder of the present invention;

[0033] Figure 5 This is a schematic diagram of the position structure of the second connecting rod of the present invention;

[0034] Figure 6 It is a schematic diagram of the positional relationship between the rocking seat and the connecting rod 1 of the present invention;

[0035] Figure 7 For the present invention Figure 4 A schematic diagram of the partially enlarged structure of the H part;

[0036] Figure 8 It is a schematic structural diagram of the positional relationship between the swing arm and the reed of the present invention.

[0037] Reference numerals: 1, mounting seat; 2, turntable; 3, arc arm; 4, lifting arm; 5, translation arm; 6, visual inspection camera; 7, transfer table; 8, suction cup; 9, exchange cylinder; 10, isolation ring; 11, plug; 12, outer cylinder; 13, control member; 14, rocking seat; 15, variable platform; 16, stroke chamber; 17, connecting arm; 18, deformation member 1; 19, sliding cylinder; 20, deformation member 2; 21, adjustment seat; 22, stopper; 23, constraint groove; 24, clamping member; 25, connecting rod 1; 26. Center rod one; 27. Connecting rod two; 28. Variable rod one; 29. ​​Deformable member three; 30. Deformable member four; 31. Support shell; 32. Connecting seat; 33. Constraint seat; 34. Spring leaf; 35. Plastic member; 36. Maintaining table; 37. Swing arm; 38. Center rod two; 39. Straight line mark; 40. Rod-shaped power supply; 41. Guide cylinder; 42. Compressor; 43. Filter pressure reducing valve; 44. Solenoid valve; 45. Vacuum generator; 46. Vacuum filter; 47. Gas distribution pipeline; 48. Connecting plate. DETAILED DESCRIPTION

[0038] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0039] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0040] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0041] Secondly, the present invention is described in detail with reference to the schematic diagram. When describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0042] like Figures 1 to 7As shown, the present invention proposes a feeding device based on machine vision and robot, including a placement seat 1, the head of the placement seat 1 is rotated to a turntable 2, an arc arm 3 is installed on the turntable 2, the arc arm 3 is rotated to a lifting arm 4, the head of the lifting arm 4 is rotated to a translation arm 5, a transfer table 7 is installed on the translation arm 5, a visual inspection camera 6 is installed on the lower side of the transfer table 7, the visual inspection camera 6 is a prior art, a plurality of suction cups 8 are evenly arranged on the lower side of the transfer table 7, an exchange cylinder 9 is installed on the head of the suction cup 8, the exchange cylinder 9 is connected to an air distribution pipeline 47 through a branch pipeline, the air distribution pipeline 47 is connected to a vacuum filter 46 through a pipeline, the vacuum filter 46 is connected to a vacuum generator 45 through a pipeline, the vacuum generator 45 is connected to a solenoid valve 44 through a pipeline, the solenoid valve 44 is connected to a filter pressure reducing valve 43 through a pipeline, and the filter pressure reducing valve 43 is connected to a compressor 42 through a pipeline;

[0043] An isolating ring 10 is arranged at the tail of the inner side of the exchange cylinder 9 , an outer cylinder 12 is arranged at the head of the inner side of the exchange cylinder 9 , a connecting arm 17 is arranged at the tail of the outer cylinder 12 , the connecting arm 17 is connected to a plug 11 , and the plug 11 is flexibly connected to the isolating ring 10 .

[0044] It includes an outer tube 12, a power component and an auxiliary component. A control component 13 is installed in the outer tube 12. The control component 13 includes a generator. The power component is connected to a shaking seat 14. The shaking seat 14 includes a magnet. The control component 13 is connected to electricity to generate a force with the power component to force the power component to operate, which is beneficial for the power component to drive the auxiliary component from the starting point to the end point. The auxiliary component includes a connecting arm 17. After starting, the final point reached by the part of the connecting arm 17 is the end point, and the point where the auxiliary component is located before starting is the starting point.

[0045] The generator is made of wound copper wire.

[0046] The control part 13 removes power and stops operating, the power component works and controls the auxiliary component to move back and forth between the starting point and the end point, the power component includes a rocking seat 14, the auxiliary component is connected to the variable platform 15, one end of the rocking seat 14 is connected to the outer cylinder 12 by a center rod 26, the rocking seat 14 swings around the center rod 26, and the other end of the rocking seat 14 is variably connected to the variable platform 15.

[0047] The materials of the variable platform 15 include copper and aluminum. A stroke cavity 16 is recessed between the variable platform 15 and the outer cylinder 12. The auxiliary component also includes a deformable member 18. A guide cylinder 41 is preset on the variable platform 15. The deformable member 18 surrounds the outer periphery of the guide cylinder 41. The deformable member 18 is placed in the stroke cavity 16. One end of the connecting arm 17 is assembled on the inner side of the guide cylinder 41, and the other end of the connecting arm 17 passes through the inner side of the stroke cavity 16 and reaches the outside of the outer cylinder 12. During the entire operation of the auxiliary component, the deformable member 18 maintains potential energy. The potential energy of the deformable member 18 at the end point of the auxiliary component is greater, and the deformable member 18 can push the end point to the starting point.

[0048] The connecting arm 17 corresponds to the inner side of the guide tube 41 , and the guide tube 41 can guide the connecting arm 17 to complete the assembly, making the assembly faster and more accurate.

[0049] When the changing platform 15 can be magnetized, the rocking seat 14 can move along with the changing platform 15 .

[0050] The rocking seat 14 is in the shape of a rugby ball. One end of the rocking seat 14 facing the changing platform 15 is screwed with a wheel, so that the resistance between the rocking seat 14 and the changing platform 15 is very small.

[0051] A clamping piece 24 is disposed on the inner side of the guide cylinder 41 , and the connecting arm 17 is connected to the guide cylinder 41 by means of the clamping piece 24 . The connecting arm 17 is connected to the structure that needs to move back and forth.

[0052] As a preferred technical solution for a feeding device based on machine vision and robots, a stop plate 22 is arranged on the outer cylinder 12, and a constraint groove 23 is preset on the connecting arm 17. The stop plate 22 extends into the constraint groove 23. When the connecting arm 17 moves from the end point to the starting point, the auxiliary component will first reach the middle point and then stop at the starting point. The starting point is between the middle point and the end point. During the operation of the connecting arm 17, when the connecting arm 17 moves from the starting point to the middle point, the stop plate 22 hinders the movement of the auxiliary component, causes the snap-on component 24 to fall off, and causes the connecting arm 17 on the variable platform 15 to slide off. That is, the stop plate 22 brakes the auxiliary component and causes the snap-on component 24 to fall off under the impact, so that the connecting arm 17 can be replaced easily. However, in this technical solution, a plug with limited travel is arranged on the connecting arm 17, and it will return before reaching the stop plate 22.

[0053] A sliding cylinder 19, a deformable member 20 and an adjusting seat 21 are arranged on the inner side of the outer cylinder 12. The deformable member 20 is located between the sliding cylinder 19 and the adjusting seat 21. The sliding cylinder 19 constrains the movement of the rocking seat 14 so that the head of the rocking seat 14 will not stop in a vertical position. A thread is arranged on the adjusting seat 21, and an inner thread is also preset on the outer cylinder 12. The adjusting seat 21 is threadedly connected to the outer cylinder 12. The adjusting seat 21 can control the length of the deformable member 20, thereby controlling the size of the preload of the deformable member 20.

[0054] It also includes a connecting rod 25, one end of which is movably connected to the sliding cylinder 19, and the other end of the connecting rod 25 is fixedly connected to the rocking seat 14. When the two rocking seats 14 are close to each other, the two connecting rods 25 are moved close to each other along the sliding cylinder 19. The connecting rod 25 is used to connect the sliding cylinder 19 to the rocking seat 14 to extend the torque. After the power is cut off, the rocking seat 14 is affected by the deformation member 20 and deviates from the central axis of the outer cylinder 12. The sliding cylinder 19 is a magnet, and the polarities of the surfaces opposite to the rocking seat 14 are different. The sliding cylinder 19 may not be a magnet.

[0055] The second connecting rod 27, the first changing rod 28, the third deforming member 29, the fourth deforming member 30, the supporting shell 31 and the connecting seat 32 are all assembled to the inner side of the outer cylinder 12. The other end of the second connecting rod 27 extends out of the supporting shell 31 and connects the connecting seat 32 and the first changing rod 28 one by one. One end of the first changing rod 28 extends out of the outer cylinder 12. A through hole is concavely arranged in the middle of the adjusting seat 21. The first changing rod 28 passes through the through hole. The supporting shell 31 is connected to the connecting seat 32 by the deformable member 3 29, and the deformable member 4 30 is arranged between the outer cylinder 12 and the variable rod 1 28. The control member 13 is connected to the power, and the connecting rod 1 25 drives the connecting rod 2 27 and the variable rod 1 28 to move together. The deformable member 3 29 and the deformable member 4 30 shorten and accumulate potential energy. The control member 13 cuts off the power, and the deformable member 3 29 and the deformable member 4 30 release the potential energy to push the connecting rod 2 27 and the variable rod 1 28 to move.

[0056] A plurality of linear markings 39 are preset on the change rod 1 28 , and the linear markings 39 mark the protruding dimensions of the connecting arm 17 .

[0057] A clamping component is installed in the support shell 31, and the clamping component includes a constraint seat 33, a spring 34, a plastic part 35, a maintaining platform 36 and a control component. The connecting rod 27 extends from the constraint seat 33, and the support shell 31 and the constraint seat 33 jointly construct an active cavity, which is trapezoidal in shape. The spring 34 is installed in the active cavity and clamped on the maintaining platform 36. The end of the active cavity with a smaller size faces the variable platform 15. The plastic part 35 is installed at the end of the active cavity with a larger size. One end of the plastic part 35 is connected to the constraint seat 33, and the other end of the plastic part 35 is connected to the maintaining platform 36. The spring 34 can connect with the connecting rod 27 to block the movement of the variable platform 15 and stop it. During the control of the control component, the spring 34 releases the blockage of the connecting rod 27.

[0058] The leaf spring 34 blocks the groove of the connecting rod 27 and makes it unable to move.

[0059] The control component includes a swing arm 37, a center rod 2 38 and a starting unit. The swing arm 37 is screwed to the outer cylinder 12 by the center rod 2 38. The starting unit is installed at one end of the swing arm 37. The starting unit is pressed to drive one end of the swing arm 37 to rotate around the center rod 2 38. The other end of the swing arm 37 controls the spring 34 to move close to the center rod 2 38, so that the constraint of the connecting rod 2 27 is removed. The starting unit includes a control arm and a deformation member 5. The control arm is arranged on the outer cylinder 12. The control arm is connected to the outer cylinder 12 by the deformation member 5. During the compression of the control arm, the deformation member 5 releases potential energy to force the control arm to return to its original position and pull the swing arm 37 back to its original position. The spring 34 constrains the connecting rod 2 27 again, so that the lower side of the connecting rod 2 27 cannot move to the variable platform 15, so that the connecting rod 2 27 cannot squeeze the variable platform 15, the connecting arm 17 and the plug 11 to release the closure of the isolation ring 10.

[0060] The rocking seat 14 is composed of two pieces and is installed in a mirror image. The rocking seat 14 is screwed on the center rod 26. The control part 13 is connected to the power to drive the rocking seat 14 to approach the center line of the outer cylinder 12, and the variable platform 15 is compressed to deviate from the center rod 26, and the connecting arm 17 moves from the starting point to the end point.

[0061] After the connecting arm 17 reaches the end point, the control member 13 is de-energized. As the control member 13 is de-energized, the rocking seat 14 loses the force of the control member 13. The repulsive force between the two rocking seats 14 forces the two rocking seats 14 to move away from the center line of the outer cylinder 12. At this time, the deformable member 18 is in a contracted state. The deformable member 18 releases potential energy to press the variable platform 15 to approach the center rod 26 until the variable platform 15 touches the rocking seat 14. At this time, the connecting arm 17 returns to the starting point.

[0062] By manually pressing the change rod 28 and one end of the swing arm 37, the plug 11 and the isolation ring 10 can be manually separated by manually squeezing 15, and the gas can enter the suction cup 8, so that the suction cup 8 loses the ability to absorb objects, and the objects are released to eliminate mechanical failures.

[0063] A rod-shaped power source 40 is installed inside the outer cylinder 12 .

[0064] The lower side of the connecting rod 27 is in movable contact with the variable platform 15.

[0065] A servo motor 1 is installed on the arc arm 3, and the power head of the servo motor 1 is connected to the lifting arm 4. A servo motor 2 is installed on the head of the lifting arm 4, and the power head of the servo motor 2 is connected to the translation arm 5. A servo motor 3 is installed on the translation arm 5, and the power head of the servo motor 3 is connected to the transfer platform 7.

[0066] A limit block is arranged inside the suction cup 8, and the limit block blocks the plug 11, limits the travel of the plug 11, and prevents the plug 11 from falling off.

[0067] The control element 13 is connected to the power and the power components to generate a magnetic field force.

[0068] The specific implementation method is as follows: the visual detection camera 6 is used to identify the object, the transfer platform 7 is lowered by controlling the lifting arm 4 to swing, and the suction cup 8 on the transfer platform 7 is controlled to contact the surface of the object to be transported. The object is generally a plate-shaped object. The compressor 42 is started, and the filter pressure reducing valve 43, the solenoid valve 44, the vacuum generator 45 and the vacuum filter 46 are operated to generate negative pressure in the exchange cylinder 9. The power components and auxiliary components in the outer cylinder 12 control the plug 11 to open the channel where the isolation ring 10 is located, so that the air pressure in the space between the suction cup 8 and the surface of the object is further reduced, so that the suction cup 8 absorbs the object, and then the lifting arm 4 is controlled to swing to make the transfer platform 7 rise to realize loading, and then the solenoid valve 44 and the vacuum generator 45 stop operating, and the plug 11 is controlled to open the channel where the isolation ring 10 is located again, and the gas enters the suction cup 8, so that the suction cup 8 loses the ability to absorb the object, and the object is released.

[0069] The plastic member 35 is made of elastic material, the lower side of the deformable member 18 is connected to the inner cavity of the outer cylinder 12, and the deformable member includes a spring.

[0070] It will be appreciated that in the development of any actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but will be a routine task of design, fabrication, and production for those of ordinary skill having the benefit of this disclosure without undue experimentation.

[0071] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A feeding device based on machine vision and robot, characterized in that: The device comprises a placement seat (1), the head of the placement seat (1) is connected to a turntable (2) by rotation, an arc arm (3) is arranged on the turntable (2), the arc arm (3) is connected to a lifting arm (4) by rotation, the head of the lifting arm (4) is connected to a translation arm (5) by rotation, a transfer platform (7) is arranged on the translation arm (5), a visual inspection camera (6) is arranged on the lower side of the transfer platform (7), a plurality of suction cups (8) are evenly arranged on the lower side of the transfer platform (7), and an exchange cylinder (9) is arranged on the head of the suction cup (8); The exchange cylinder (9) is connected to the gas distribution pipeline (47) through a branch pipeline, the gas distribution pipeline (47) is connected to the vacuum filter (46) through a pipeline, the vacuum filter (46) is connected to the vacuum generator (45) through a pipeline, the vacuum generator (45) is connected to the solenoid valve (44) through a pipeline, the solenoid valve (44) is connected to the filter pressure reducing valve (43) through a pipeline, and the filter pressure reducing valve (43) is connected to the compressor (42) through a pipeline; An isolating ring (10) is arranged at the tail of the inner side of the exchange cylinder (9), an outer cylinder (12) is arranged at the head of the inner side of the exchange cylinder (9), a connecting arm (17) is arranged at the tail of the outer cylinder (12), the connecting arm (17) is connected to a plug (11), and the plug (11) is movably connected to the isolating ring (10).

2. The feeding device based on machine vision and robot according to claim 1, characterized in that: It comprises an outer cylinder (12), a power component and an auxiliary component. A control component (13) is arranged in the outer cylinder (12), and the control component (13) comprises a generating component. The power component is connected to a rocking seat (14), the rocking seat (14) comprises a magnet, and the auxiliary component comprises a connecting arm (17); The final point where the partial structure of the connecting arm (17) reaches after starting is the end point, and the point where the auxiliary component is located before starting is the starting point.

3. The feeding device based on machine vision and robot according to claim 2, characterized in that: The power component comprises a rocking seat (14), and the auxiliary component is connected to the variable platform (15). One end of the rocking seat (14) is connected to the outer cylinder (12) by means of a center rod (26). The rocking seat (14) swings around the center rod (26), and the other end of the rocking seat (14) is variably connected to the variable platform (15).

4. The feeding device based on machine vision and robot according to claim 2, characterized in that: The material of the variable platform (15) includes copper and aluminum. A stroke chamber (16) is recessed between the variable platform (15) and the outer cylinder (12). The auxiliary component further includes a deformable member (18). A guide cylinder (41) is preset on the variable platform (15). The deformable member (18) surrounds the outer periphery of the guide cylinder (41). The deformable member (18) is placed in the stroke chamber (16). One end of the connecting arm (17) is assembled on the inner side of the guide cylinder (41). The other end of the connecting arm (17) passes through the inner side of the stroke chamber (16) and reaches the outside of the outer cylinder (12). During the entire operation of the auxiliary component, the deformable member (18) maintains potential energy.

5. The feeding device based on machine vision and robot according to claim 1, characterized in that: A sliding cylinder (19), a second deformable member (20) and an adjusting seat (21) are arranged on the inner side of the outer cylinder (12). The second deformable member (20) is located between the sliding cylinder (19) and the adjusting seat (21). The sliding cylinder (19) constrains the movement of the rocking seat (14) so ​​that the head of the rocking seat (14) will not stop in a vertical position. A thread is arranged on the adjusting seat (21). The outer cylinder (12) is also provided with an inner thread. The adjusting seat (21) is threadedly connected with the outer cylinder (12). The adjusting seat (21) can control the length of the second deformable member (20) so as to control the size of the preload of the second deformable member (20).

6. The feeding device based on machine vision and robot according to claim 4, characterized in that: A clamping piece (24) is arranged on the inner side of the guide cylinder (41), and the connecting arm (17) is connected to the guide cylinder (41) by means of the clamping piece (24), and the connecting arm (17) is connected to the structure that needs to move back and forth; A stop plate (22) is arranged on the outer cylinder (12), and a restraining groove (23) is preset on the connecting arm (17). The stop plate (22) extends into the restraining groove (23). When the connecting arm (17) moves from the end point to the start point, the auxiliary component will first reach the middle point and then stop at the start point. The start point is between the middle point and the end point. When the connecting arm (17) is in operation, when the connecting arm (17) moves from the start point to the middle point, the stop plate (22) hinders the movement of the auxiliary component, causing the clamping part (24) to fall off, and causing the connecting arm (17) on the variable platform (15) to slide off. That is, the stop plate (22) brakes the auxiliary component, causing the clamping part (24) to fall off under the impact.

7. The feeding device based on machine vision and robot according to claim 5, characterized in that: The invention also comprises a connecting rod (25), one end of which is movably connected to the sliding cylinder (19), and the other end of which is fixedly connected to the rocking seat (14). When the two rocking seats (14) are close to each other, the two connecting rods (25) are moved close to each other along the sliding cylinder (19). The connecting rod (25) is used to connect the sliding cylinder (19) to the rocking seat (14) to extend the torque. After the power is cut off, the rocking seat (14) is affected by the deformation member (20) and deviates from the central axis of the outer cylinder (12). The sliding cylinder (19) is a magnet, and the polarities of the surfaces opposite to the sliding cylinder (19) and the rocking seat (14) are different.

8. The feeding device based on machine vision and robot according to claim 4, characterized in that: It also includes a second connecting rod (27), a first variable rod (28), a third deformable member (29), a fourth deformable member (30), a support shell (31) and a connecting seat (32). The second connecting rod (27) and the support shell (31) are assembled to the inner side of the outer cylinder (12). The other end of the second connecting rod (27) extends out of the support shell (31) and is connected to the connecting seat (32) and the first variable rod (28) one by one. One end of the first variable rod (28) extends out of the outer cylinder (12). A through hole is recessed in the middle of the adjustment seat (21). The first variable rod (28) passes through the through hole. The support shell (31) is connected to the connecting seat (32) by means of the third deformable member (29). The fourth deformable member (30) is arranged between the outer cylinder (12) and the first variable rod (28).

9. The feeding device based on machine vision and robot according to claim 8, characterized in that: A clamping component is arranged in the support shell (31), and the clamping component comprises a restraining seat (33), a spring leaf (34), a plastic part (35), a maintaining platform (36) and a control component. A second connecting rod (27) extends from the restraining seat (33). The support shell (31) and the restraining seat (33) jointly construct an active cavity, and the shape of the active cavity is a trapezoid. The spring leaf (34) is arranged in the active cavity and clamped on the maintaining platform (36). The end of the active cavity with a smaller size faces the variable platform (15). The plastic part (35) is arranged at the end of the active cavity with a larger size. One end of the plastic part (35) is connected to the restraining seat (33), and the other end of the plastic part (35) is connected to the maintaining platform (36).

10. The feeding device based on machine vision and robot according to claim 9, characterized in that: The control component comprises a swing arm (37), a center rod (38) and a starting unit. The swing arm (37) is screwed to the outer cylinder (12) by the center rod (38). The starting unit is arranged at one end of the swing arm (37). The starting unit is pressed to drive one end of the swing arm (37) to rotate around the center rod (38). The other end of the swing arm (37) controls the spring leaf (34) to move close to the center rod (38), so that the constraint of the connecting rod (27) is removed.

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