Robot vision feeding device

Abstract

The invention discloses a robot vision feeding device which comprises a base, a placing box is fixedly mounted at the top of the base, an adjusting mechanism is arranged on the outer side of the placing box, a robot clamping mechanism is arranged at the top of the base, and a moving plate is fixedly mounted on the side face of an adjusting plate. A fixed plate is fixedly mounted at the top of the placement box, a first screw rod is rotationally connected between the fixed plate and the base, and the first screw rod penetrates through the interior of the movable plate in a threaded connection mode. According to the robot vision feeding device, through intermittent movement of the gear, the adjusting plate can ascend by a certain distance every a period of time, after the uppermost material is taken away, the lower material can be conveyed, the ascending materials are clamped according to the interval time between ascending of the materials, and the feeding efficiency is improved. Therefore, the problem that the materials need to be placed before the robot clamps each time is solved, and the feeding efficiency is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical production, and more particularly to a robot vision feeding device. Background Art

[0002] The feeding equipment is a device used in an automated production line to automatically convey raw materials or blanks to a processing equipment or station. There are various types of feeding equipment, which are suitable for different industries and application scenarios. Currently, most of the material feeding work is still completed manually. Manual feeding is not only time-consuming and laborious, but also has certain risks. Therefore, the present invention provides a robot vision feeding device to solve the above problems. Summary of the Invention

[0003] In view of the deficiencies of the prior art, the present invention provides a robot vision feeding device to solve the above problems.

[0004] To achieve the above objectives, the present invention is realized through the following technical solutions: A robot vision feeding device includes a base. A placement box is fixedly installed on the top of the base. An adjustment mechanism is arranged outside the placement box. A robot clamping mechanism is arranged on the top of the base. The adjustment mechanism includes an adjustment plate and an auxiliary component. The adjustment plate is slidably connected inside the placement box. A moving plate is fixedly installed on the side of the adjustment plate. A fixed plate is fixedly installed on the top of the placement box. A first screw rod is rotatably connected between the fixed plate and the base. The first screw rod is threadedly connected through the inside of the moving plate. The robot clamping mechanism includes a support rod. The support rod is fixedly installed on the top of the base. The top of the support rod is rotatably connected to a top block. A first cylinder is fixedly installed on the side of the top block. The output end of the first cylinder is fixedly installed with an adjustment block. A second cylinder is fixedly installed at the bottom of the adjustment block. The output end of the second cylinder is fixedly installed with a negative pressure suction cup. A machine vision module is arranged on the side of the adjustment block.

[0005] Preferably: A chute extending from top to bottom is formed on the side of the placement box. The moving plate is slidably connected inside the chute. Materials are placed on the top of the adjustment plate inside the placement box.

[0006] By adopting the above technical solution, the up and down movement of the adjustment plate is realized through the moving plate to adjust the position of the internal materials.

[0007] Preferably: The adjustment mechanism further includes an adjustment motor. A sector gear is fixedly installed on the output shaft of the adjustment motor. A gear is fixedly installed on the outside of the first screw rod. The gear meshes with the sector gear.

[0008] By adopting the above technical solution, the intermittent movement of the gear is realized through the cooperation of the sector gear and the gear.

[0009] Preferably, the auxiliary component includes a fixed frame, a moving rod is slidably connected inside the fixed frame, the adjusting motor is fixedly installed on the side of the moving rod, a second screw rod is rotatably connected to the inner wall of the fixed frame, the second screw rod is screwed through the inside of the moving rod, the front of the second screw rod is located outside the fixed frame, and a knob is fixedly installed on the end face of the fixed frame.

[0010] By adopting the above technical solution, the sector gear and the gear can be separated.

[0011] Preferably, a dial rod is fixedly installed on the outside of the first screw rod and below the gear.

[0012] By adopting the above technical solution, the adjusting plate is reset by rotating the first screw rod through the dial rod.

[0013] Preferably, the machine vision module includes a mounting block and a 3D vision system. The mounting blocks are located on both sides of the adjusting block. 3D vision systems are arranged at the bottoms of the two adjusting blocks. A light source system and a calibration component are arranged outside the 3D vision system. The 3D vision system includes a high-resolution 3D camera. The light source system includes an annular LED light source surrounding the high-resolution 3D camera. The calibration component includes a built-in calibration plate and a laser locator to ensure the rapid alignment of the coordinate systems of the vision system and the robot gripping mechanism. The machine vision module further includes a function module, which is used to automatically identify the position, posture and size of the material through 3D point cloud analysis, support the mixed-line production of multiple materials, and dynamically adjust the robot motion trajectory based on real-time visual feedback to avoid collisions and interferences.

[0014] Preferably, a first motor is fixedly installed inside the top block, and the output shaft of the first motor is fixedly installed at the top of the support rod.

[0015] By adopting the above technical solution, the rotation of the top block is realized through the first motor, and the angle of the negative pressure suction cup is changed.

[0016] Preferably, the negative pressure suction cup is located above the placement box.

[0017] By adopting the above technical solution, it is convenient to adsorb the material.

[0018] Beneficial effects The present invention provides a robot vision feeding device. Compared with the prior art, it has the following beneficial effects: 1. For this robot vision feeding device, the intermittent movement of the gear can be used to make the adjusting plate rise a certain distance every once in a while. After the uppermost material is taken away, the lower material will be sent up, and the rising material is clamped during the interval time between the material risings, thus solving the problem that it is necessary to place the material first before each clamping, and greatly improving the feeding efficiency.

[0019] 2. The robot vision feeding device, through the set 3D vision system combined with structured light and binocular vision technology, realizes millimeter-level precision measurement. The annular LED light source supports uniform lighting for different materials (such as metal, plastic), eliminates reflection interference, and has a built-in calibration board and laser locator to ensure the rapid alignment of the vision system with the robot coordinate system. Through 3D point cloud analysis, it automatically identifies the position, posture, and size of the material, supports multi-material mixed-line production, and dynamically adjusts the robot's motion trajectory based on real-time vision feedback to avoid collisions and interferences. After positioning to the material position, the second cylinder is activated to drive the negative pressure suction cup to move downward. When the negative pressure suction cup moves down to the material, the material is adsorbed by the negative pressure suction cup. After adsorption, the second cylinder moves the material upward. Then, the first cylinder changes the horizontal position of the material, and the first motor drives the top block to rotate around the support rod to change the horizontal angle of the material, so that the material can be transported to the next processing procedure. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0021] Figure 1 is the three-dimensional external structure diagram of the present invention; Figure 2 is the three-dimensional left-side structure diagram of the present invention; Figure 3 is the three-dimensional side structure diagram of the present invention; Figure 4 is the enlarged structure diagram of part A of the present invention.

[0022] In the figure, 1 is the base; 2 is the robot clamping mechanism; 21 is the support rod; 22 is the top block; 23 is the first motor; 24 is the first cylinder; 25 is the adjusting block; 26 is the second cylinder; 27 is the negative pressure suction cup; 28 is the machine vision module; 3 is the adjusting mechanism; 31 is the adjusting plate; 32 is the moving plate; 33 is the first screw; 34 is the fixing plate; 35 is the gear; 36 is the sector gear; 37 is the lever; 38 is the adjusting motor; 39 is the auxiliary component; 391 is the moving rod; 392 is the second screw; 393 is the knob; 394 is the fixing frame; 4 is the placement box; 5 is the material. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] It should be noted that in the description of the embodiments of the present application, the orientation or positional relationship indicated by terms such as "front, back", "left, right", "up, down", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present application. The terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.

[0024] The following further elaborates on the present application through the drawings and embodiments.

[0025] Referring to Figures 1 to 4 , an embodiment of the present application provides a robot vision loading device, including a base 1. A placement box 4 is fixedly installed on the top of the base 1. An adjustment mechanism 3 is arranged outside the placement box 4. A robot gripping mechanism 2 is arranged on the top of the base 1. The adjustment mechanism 3 includes an adjustment plate 31 and an auxiliary component 39. The adjustment plate 31 is slidably connected inside the placement box 4. A moving plate 32 is fixedly installed on the side of the adjustment plate 31. A fixing plate 34 is fixedly installed on the top of the placement box 4. A first screw rod 33 is rotatably connected between the fixing plate 34 and the base 1. The first screw rod 33 is threadedly connected through the inside of the moving plate 32.

[0026] It also includes an integrated vision processing unit (such as Cognex In-Sight) to parse image data in real time and generate a grasping path, as well as a safety protection module. For example, a laser scanner and a safety light curtain are linked to achieve real-time monitoring of dangerous areas and emergency shutdown.

[0027] A chute extending from top to bottom is formed on the side of the placement box 4. The moving plate 32 is slidably connected inside the chute. Materials 5 are placed inside the placement box 4 and on top of the adjustment plate 31.

[0028] The adjustment mechanism 3 further includes an adjustment motor 38. A sector gear 36 is fixedly installed on the output shaft of the adjustment motor 38. A gear 35 is fixedly installed on the outside of the first screw rod 33. The gear 35 meshes with the sector gear 36.

[0029] The auxiliary component 39 includes a fixed frame 394. A moving rod 391 is slidably connected inside the fixed frame 394. The adjusting motor 38 is fixedly installed on the side of the moving rod 391. A second screw rod 392 is rotatably connected to the inner wall of the fixed frame 394. The second screw rod 392 is threadedly connected through the inside of the moving rod 391. The front of the second screw rod 392 is located outside the fixed frame 394. A knob 393 is fixedly installed on the end face of the fixed frame 394.

[0030] A shift lever 37 is fixedly installed on the outer side of the first screw rod 33 and below the gear 35.

[0031] In this embodiment, when in use, the adjusting motor 38 rotates to drive the sector gear 36 to rotate. The sector gear 36 rotates to drive the gear 35 to rotate. The continuous rotation of the sector gear 36 can drive the gear 35 to perform intermittent movement. When the gear 35 rotates, it can drive the first screw rod 33 to rotate. The first screw rod 33 rotates to drive the moving plate 32 to move. When the moving plate 32 moves, it drives the inner adjusting plate 31 to move. Through the intermittent movement of the gear 35, the adjusting plate 31 can rise a certain distance every once in a while. After the uppermost material 5 is taken away, the lower material 5 will be sent up, and the rising material 5 is clamped during the interval time between the risings of the material 5, thus solving the problem that the material 5 needs to be placed first before each clamping, and greatly improving the feeding efficiency. And after all the materials 5 in the placing box 4 are completely clamped, the knob 393 is rotated to drive the second screw rod 392 to rotate, thereby driving the inner moving rod 391 to move, and then driving the adjusting motor 38 and the sector gear 36 away from the raw material gear 35. Then, the first screw rod 33 is quickly rotated by the shift lever 37 to quickly lower the adjusting plate 31, and a new round of placing and clamping of the materials 5 can be carried out.

[0032] Refer to Figures 1 to 4, in one aspect of this embodiment, the robot clamping mechanism 2 includes a support rod 21 fixedly installed on the top of the base 1. The top of the support rod 21 is rotatably connected to a top block 22. A first cylinder 24 is fixedly installed on the side of the top block 22. The output end of the first cylinder 24 is fixedly installed with an adjustment block 25. A second cylinder 26 is fixedly installed at the bottom of the adjustment block 25. The output end of the second cylinder 26 is fixedly installed with a negative pressure suction cup 27. The machine vision module 28 includes a mounting block and a 3D vision system. The mounting blocks are located on both sides of the adjustment block. 3D vision systems are provided at the bottom of both adjustment blocks. A light source system and a calibration component are provided outside the 3D vision system. The 3D vision system includes a high-resolution 3D camera. The light source system includes a ring-shaped LED light source surrounding the high-resolution 3D camera. The calibration component includes a built-in calibration board and a laser locator to ensure the rapid alignment of the coordinate systems of the vision system and the robot clamping mechanism. The machine vision module also includes a function module for automatically identifying the position, posture, and dimensions of the material through 3D point cloud analysis, supporting the mixed-line production of multiple materials, and dynamically adjusting the robot motion trajectory based on real-time visual feedback to avoid collisions and interferences. The 3D vision system is equipped with a high-resolution 3D camera (such as Zivid One+), and combines structured light and binocular vision technologies to achieve millimeter-level precision measurement. The ring-shaped LED light source can be combined with a coaxial light source to support uniform lighting of different materials (such as metal, plastic) and eliminate the interference of reflected light.

[0033] A first motor 23 is fixedly installed inside the top block 22, and the output shaft of the first motor 23 is fixedly installed on the top of the support rod 21.

[0034] The negative pressure suction cup 27 is located above the placement box 4.

[0035] In this embodiment, when clamping the material 5, the second cylinder 26 is started to drive the negative pressure suction cup 27 to move downward. When the negative pressure suction cup 27 moves down to the material 5, the material 5 is adsorbed by the negative pressure suction cup 27. After adsorption, the material 5 is lifted by the second cylinder 26. Then, the horizontal position of the material 5 is changed by the first cylinder 24. Next, the first motor 23 drives the top block 22 to rotate around the support rod 21 to change the horizontal angle of the material 5, so that the material 5 can be transported to the next processing procedure, achieving the effect of convenient clamping and convenient movement.

[0036] In this solution, all electrical equipment is powered by an external power supply.

[0037] Working principle: During use, the rotation of the motor 38 drives the rotation of the sector gear 36. The rotation of the sector gear 36 drives the rotation of the gear 35. The continuous rotation of the sector gear 36 can drive the gear 35 to perform intermittent motion. When the gear 35 rotates, it can drive the rotation of the first screw rod 33. The rotation of the first screw rod 33 drives the movement of the moving plate 32. When the moving plate 32 moves, it drives the movement of the inner adjusting plate 31. Through the intermittent motion of the gear 35, the adjusting plate 31 can rise a certain distance every once in a while. After the material 5 at the top is taken away, the material 5 below will be sent up, and the rising material 5 is clamped during the interval time between the rises of the material 5, thus solving the problem that the material 5 needs to be placed first before each clamping, greatly improving the feeding efficiency. And after all the material 5 in the placing box 4 is completely clamped, the rotation of the second screw rod 392 is driven by the knob 393, thereby driving the movement of the inner moving rod 391, and then driving the adjusting motor 38, the sector gear 36 and the raw material gear 35. Then, the first screw rod 33 is quickly rotated by the lever 37 to quickly lower the adjusting plate 31, and a new round of placing and clamping of the material 5 can be carried out. When clamping the material 5, through the set 3D vision system combined with structured light and binocular vision technology, millimeter-level precision measurement is achieved. The annular LED light source supports uniform lighting of different materials (such as metal, plastic), eliminates the reflection interference. The built-in calibration plate and laser locator ensure the quick alignment of the vision system with the robot coordinate system and through 3D point cloud analysis, automatically identify the position, posture and size of the material, support the mixed-line production of multiple materials, and based on real-time vision feedback, dynamically adjust the robot motion trajectory to avoid collisions and interferences. After positioning to the material position, the second cylinder 26 is started to drive the negative pressure suction cup 27 to move downward. When the negative pressure suction cup 27 moves down to the material 5, the material 5 is adsorbed by the negative pressure suction cup 27. After adsorption, the material 5 is lifted by the second cylinder 26. Then, the horizontal position of the material 5 is changed by the first cylinder 24, and then the top block 22 is driven by the first motor 23 to rotate around the support rod 21 to change the horizontal angle of the material 5, so that the material 5 can be transported to the next processing procedure, achieving the effect of convenient clamping and convenient movement.

[0038] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device.

[0039] Although embodiments of the present application have been shown and described, those of ordinary skill in the art will understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present application. The scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A robot visual feeding device, comprising a base (1), characterized in that: A placement box (4) is fixedly mounted on the top of the base (1), an adjustment mechanism (3) is arranged on the outside of the placement box (4), a robot gripping mechanism (2) is arranged on the top of the base (1), the adjustment mechanism (3) comprises an adjustment plate (31) and an auxiliary component (39), the adjustment plate (31) is slidably connected to the inside of the placement box (4), a moving plate (32) is fixedly mounted on the side of the adjustment plate (31), a fixed plate (34) is fixedly mounted on the top of the placement box (4), a first screw (33) is rotatably connected between the fixed plate (34) and the base (1), the first screw (33) being screwed through the The robot gripping mechanism (2) passes through the inside of the movable plate (32), and comprises a support rod (21), wherein the support rod (21) is fixedly mounted on the top of the base (1), and the top of the support rod (21) is rotatably connected to a top block (22), a first cylinder (24) is fixedly mounted on the side of the top block (22), an adjustment block (25) is fixedly mounted on the output end of the first cylinder (24), a second cylinder (26) is fixedly mounted on the bottom of the adjustment block (25), a negative pressure suction cup (27) is fixedly mounted on the output end of the second cylinder (26), and a machine vision module (28) is arranged on the side of the adjustment block (26).

2. A robot visual feeding device according to claim 1, characterized in that: A chute extending from top to bottom is provided on the side of the placement box (4), and the movable plate (32) is slidably connected inside the chute. Materials (5) are placed inside the placement box (4) and on top of the adjustment plate (31).

3. A robot visual feeding device according to claim 1, characterized in that: The adjusting mechanism (3) further comprises an adjusting motor (38), the output shaft of the adjusting motor (38) being fixedly mounted with a sector gear (36), the outer side of the first screw rod (33) being fixedly mounted with a gear (35), the gear (35) and the sector gear (36) being meshed with each other.

4. A robot visual feeding device according to claim 1, characterized in that: The auxiliary component (39) includes a fixed frame (394), the interior of the fixed frame (394) is slidably connected to a moving rod (391), the adjustment motor (38) is fixedly mounted on the side of the moving rod (391), the inner wall of the fixed frame (394) is rotatably connected to a second screw rod (392), the second screw rod (392) is threadedly connected and passes through the interior of the moving rod (391), the front side of the second screw rod (392) is located on the outside of the fixed frame (394), and a knob (393) is fixedly mounted on the end face of the fixed frame (394).

5. A robot visual feeding device according to claim 1, characterized in that: A shifting rod (37) is fixedly mounted on the outside of the first screw rod (33) and below the gear (35).

6. A robot visual feeding device according to claim 1, characterized in that: The machine vision module (28) comprises a mounting block and a 3D vision system, wherein the mounting blocks are located on both sides of the adjustment block, and the bottoms of the two adjustment blocks are provided with 3D vision systems, and the outer side of the 3D vision system is provided with a light source system and a calibration component, wherein the 3D vision system comprises a high-resolution 3D camera, and the light source system comprises a ring-shaped LED light source surrounding the outer side of the high-resolution 3D camera, and the calibration component comprises a built-in calibration plate and a laser locator to ensure that the coordinate system of the vision system and the robot gripping mechanism are quickly aligned, and the machine vision module also comprises a functional module, wherein the functional module is used to automatically identify the position, posture and size of the material through 3D point cloud analysis, support multi-material mixed line production, and dynamically adjust the robot motion trajectory based on real-time visual feedback to avoid collision and interference.

7. A robot visual feeding device according to claim 6, characterized in that: A first motor (23) is fixedly mounted inside the top block (22), and an output shaft of the first motor (23) is fixedly mounted on the top of the support rod (21).

8. A robot visual feeding device according to claim 6, characterized in that: The negative pressure suction cup (27) is located above the placement box (4).

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