A modular vision-guided robot loading and unloading device

Abstract

The present application discloses a modular vision-guided robot loading and unloading device, which relates to the technical field of robot-assisted loading and unloading equipment, and includes a vision module, which is installed on the production line and is used to identify the position of the workpiece and output coordinate information; a manipulator module, which is installed on the production line, and the end of the manipulator module is provided with a fixture connection mechanism and an end effector; a fixture module, which is installed on the end of the manipulator module through the fixture connection mechanism, and the fixture module is electrically connected to the end effector for grasping the workpiece; a control system module, which is electrically connected to the vision module, the manipulator module and the end effector respectively, and is used to control the movement of the manipulator module according to the coordinate information output by the vision module, and control the movement of the fixture module through the end effector. The present application can meet the diversified product production needs on different production lines and improve the versatility and adaptability of the equipment.

Description

Technical Field

[0001] The present application relates to the technical field of robot-assisted loading and unloading equipment, and in particular to a modular vision-guided robot loading and unloading device. Background Art

[0002] Automated production technology has been widely applied and developed in modern manufacturing. As market demands for product quality and production efficiency continue to rise, the degree of automation in production lines has become a key factor in enhancing a company's competitiveness. Automated production not only reduces labor costs and mitigates the impact of human factors on product quality, but also enables continuous and efficient production operations, thereby improving a company's economic benefits.

[0003] In the past, automated production lines commonly used robots to load and unload workpieces. These robots were typically fixed arms, whose movements were precisely controlled by specific programs and then combined with fixtures to grip the workpiece. Alternatively, simple automated gripping devices might be used, performing repetitive gripping actions based on pre-set patterns.

[0004] However, this traditional robot has limited flexibility and adaptability. When encountering workpieces of various shapes and unstable positions, these traditional robots cannot accurately and effectively complete the loading and unloading tasks. Therefore, they can only be used for grasping some workpieces with relatively fixed shapes and positions, and it is difficult to meet the diverse product production needs on different production lines. Summary of the Invention

[0005] In response to the problems existing in the prior art, the present application provides a modular vision-guided robot loading and unloading device.

[0006] This application provides a modular vision-guided robot loading and unloading device, which adopts the following technical solutions:

[0007] A modular vision-guided robot loading and unloading device includes a vision module, which is installed on the production line and is used to identify the position of the workpiece and output coordinate information; a manipulator module, which is installed on the production line and is provided with a fixture connection mechanism and an end effector at the end of the manipulator module; a fixture module, which is installed on the end of the manipulator module through the fixture connection mechanism, and the fixture module is electrically connected to the end effector for grasping the workpiece; a control system module, which is electrically connected to the vision module, the manipulator module and the end effector respectively, and is used to control the movement of the manipulator module according to the coordinate information output by the vision module, and to control the movement of the fixture module through the end effector.

[0008] Optionally, the vision module includes a bracket, an industrial camera and a compensation light source, the bracket is fixedly set on the production line, the industrial camera is installed on the bracket for collecting surface features of the workpiece, the compensation light source is set on the bracket for lighting, and the industrial camera and the compensation light source are both electrically connected to the control system module.

[0009] Optionally, the clamp module includes a mounting frame, a rotating shaft, a clamping frame and a clamping assembly. The mounting frame is fixed to the manipulator module through a clamp connecting mechanism. The rotating shaft is rotatably set on the mounting frame. The manipulator module is provided with a rotating structure for driving the rotating shaft to rotate. The clamping frame is fixedly set on the rotating shaft. The clamping assembly is set on the clamping frame for clamping the workpiece.

[0010] Optionally, the clamping assembly includes a first clamping arm, a second clamping arm and a driving structure. The first clamping arm and the second clamping arm are rotatably arranged on the clamping frame in a direction of approaching or moving away from each other, and the driving structure is used to drive the first clamping arm and the second clamping arm to rotate.

[0011] Optionally, the driving structure includes a first connecting rod, a second connecting rod, a pull rod and an electric push rod, the first connecting rod is hinged to the first clamping arm, the second connecting rod is hinged to the second clamping arm, the pull rod is slidably arranged on the clamping frame, and the pull rod is hinged to the first connecting rod and the second connecting rod respectively, the electric push rod is installed on the clamping frame, and is used to drive the pull rod to slide, the electric push rod is electrically connected to a socket, and the end actuator is provided with a plug adapted to the socket.

[0012] Optionally, the clamping frame is provided with an elastic member for driving the first clamping arm and the second clamping arm to deflect in directions away from each other.

[0013] Optionally, the rotating structure includes a main shaft and a motor, the main shaft is rotated and arranged at the end of the manipulator module, the end of the main shaft is provided with a plug-in portion, the end of the rotating shaft is provided with a plug-in slot for inserting the plug-in portion, and the plug-in portion is adapted to the plug-in slot, the motor is used to drive the main shaft to rotate, and the end actuator is electrically connected to the motor.

[0014] Optionally, a positioning block is provided on the side wall of the plug-in portion, and a positioning slot for inserting the positioning block is provided at the end of the rotating shaft.

[0015] Optionally, a accommodating groove is provided on the side wall of the plug-in portion, an elastic pressure plate is fixedly provided in the accommodating groove, a spherical bump is provided on the elastic pressure plate, and a positioning groove for inserting the spherical bump is provided on the side wall of the plug-in groove.

[0016] Optionally, the clamp connection mechanism includes a connecting frame, a clamping sleeve and a locking piece, the connecting frame is fixedly set at the tail end of the manipulator module, the clamping sleeve is slidably set on the connecting frame along the direction perpendicular to the main axis, the clamping sleeve is provided with a clamping part, the mounting frame is provided with a clamping slot for inserting the clamping part, and the locking piece is used to fix the clamping sleeve on the connecting frame.

[0017] In summary, this application includes at least one of the following beneficial technical effects:

[0018] 1. This application can meet the diverse production needs of products on different production lines and improve the versatility and adaptability of the equipment. Specifically, through modular design, it supports rapid transformation of production lines and adapts to various production scenarios. The fixture module is adapted according to the shape of the workpiece, and the manipulator module is connected to the fixture module through a fixture connection mechanism, which can meet the production needs of different workpieces. The visual module is used to identify the position of the workpiece, and the control system module controls the movement of the manipulator module based on its coordinate information. The fixture module grabs the workpiece and can flexibly adapt to the position changes of different workpieces. This effectively solves the problem that traditional manipulators are difficult to adapt to the production and processing needs of diversified products, realizes automated loading and unloading operations, and improves the versatility and adaptability of the equipment.

[0019] 2. The fixture module consists of a mounting frame, a rotating shaft, a clamping frame and a clamping assembly. The rotating shaft is rotated by the rotating structure, which drives the clamping frame to rotate, so that the clamping assembly can be adjusted at multiple angles. The angle of the clamped workpiece can be flexibly adjusted, which enhances the adaptability to workpieces in different positions and postures, and is conducive to more accurate and stable grasping of workpieces.

[0020] 3. The rotating shaft on the fixture module is installed on the plug-in part of the main shaft through the plug-in slot to realize the quick connection between the rotating shaft and the main shaft. When the rotating shaft and the main shaft are connected, the clamping sleeve is slid to make the clamping part on the clamping sleeve inserted into the clamping slot of the mounting frame, and then the clamping sleeve is locked and fixed by the locking part to complete the quick installation of the fixture module, thereby improving the convenience of replacing and maintaining the fixture module. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application;

[0022] Figure 2 This is a schematic diagram of the structure of the visual module used in the embodiment of the present application;

[0023] Figure 3 This is a schematic diagram of the structure of the fixture module used in the embodiment of the present application;

[0024] Figure 4 This is a schematic structural diagram of a clamp connection mechanism used in an embodiment of the present application;

[0025] Figure 5 This is a partial structural sectional view of an embodiment of the present application, mainly used to express the connection relationship between the main shaft and the rotating shaft.

[0026] Explanation of reference numerals: 1. Vision module; 11. Bracket; 12. Industrial camera; 13. Compensation light source; 2. Manipulator module; 21. End effector; 211. Plug; 22. Spindle; 221. Connector; 222. Positioning block; 223. Accommodation groove; 224. Elastic pressure plate; 225. Spherical bump; 23. Motor; 3. Fixture module; 31. Mounting frame; 311. Card slot; 32. Rotating shaft; 321. Plug Connecting groove; 33. Clamping frame; 331. Guide rod; 332. Elastic member; 34. Clamping assembly; 341. First clamping arm; 342. Second clamping arm; 343. First connecting rod; 344. Second connecting rod; 345. Pull rod; 346. Electric push rod; 347. Socket; 4. Control system module; 41. Control panel; 5. Clamp connecting mechanism; 51. Connecting frame; 52. Clamping sleeve; 521. Clamping part; 53. Locking member. DETAILED DESCRIPTION

[0027] The following will be combined with the Figure 1 -Attached Figure 5 The technical solutions in the embodiments of the present invention are clearly and completely described. The described embodiments are only possible technical implementations of the present invention and do not constitute a complete set of implementations. Those skilled in the art can combine the embodiments of the present invention to derive other embodiments without inventive work, and such embodiments are also within the scope of protection of the present invention.

[0028] The inventors of this application have discovered that in previous automated production lines, robots were commonly used to load and unload workpieces. Common robots are usually fixed robotic arms. These traditional robots have limited flexibility and adaptability. When encountering workpieces of various shapes and unstable positions, these traditional robots cannot accurately and effectively complete the loading and unloading tasks. Therefore, they can only be used to grasp workpieces with relatively fixed shapes and positions, and it is difficult to meet the diverse product production needs on different production lines. To this end, this application discloses a modular vision-guided robot loading and unloading device, which mainly adopts the following scheme:

[0029] The embodiment of the present application discloses a modular vision-guided robot loading and unloading device. Figure 1, including a vision module 1, a manipulator module 2, a fixture module 3 and a control system module 4, wherein the vision module 1 is installed on the production line, and is used to identify the position of the workpiece and output coordinate information; the manipulator module 2 is installed on the production line, and a fixture connection mechanism 5 and an end effector 21 are provided at its end; the fixture module 3 is installed at the end of the manipulator module 2 through the fixture connection mechanism 5, and the fixture module 3 is electrically connected to the end effector 21 for grasping the workpiece; the control system module 4 is electrically connected to the vision module 1, the manipulator module 2 and the end effector 21 respectively, and is used to control the movement of the manipulator module 2 according to the coordinate information output by the vision module 1, and control the movement of the fixture module 3 through the end effector 21, thereby achieving the effect of adapting to the production and processing needs of diversified products on different production lines.

[0030] Reference Figure 1 The robot module 2 includes a six-axis robotic arm. Its base is made of cast iron and bolted to the production line to prevent the arm from shaking during operation. The six-axis robotic arm uses a six-axis collaborative robot with a load capacity of 5 kg and is capable of flexible movement in three dimensions. High-precision reducers and servo motors 23 are used at each joint of the robotic arm to ensure accurate and stable movement.

[0031] Reference Figure 1 Specifically, the control system module 4 uses a high-performance industrial-grade processor with powerful computing capabilities, which can quickly process the coordinate information transmitted by the vision module 1 and calculate the motion trajectory of the robot arm. The control system module 4 is also equipped with a control panel 41, which allows operators to monitor and adjust data parameter settings.

[0032] Reference Figure 1 and Figure 2 The visual module 1 includes a bracket 11, an industrial camera 12 and a compensation light source 13. The bracket 11 is usually made of metal, such as aluminum alloy, and its structure is stable and light. The bracket 11 is fixed on the production line by means of bolts, etc. to ensure the stability of the installation. The industrial camera 12 is installed on the bracket 11. It uses an industrial-grade CCD camera with a resolution of not less than 5 million pixels, which can clearly capture the surface features of the workpiece. The lens of the industrial camera 12 is facing the workpiece area, and the angle and height can be adjusted according to actual conditions to obtain the best shooting field of view. In addition, the industrial camera 12 can also be replaced by a laser scanner or a CMOS camera.

[0033] Reference Figure 2The compensation light source 13 is mounted on the bracket 11 and is used to illuminate the workpiece area, enabling the industrial camera 12 to accurately capture images under varying lighting conditions. The compensation light source 13 may be an LED light bar, which provides uniform illumination and low energy consumption. The compensation light source 13 may also be replaced by a ring light source, which provides more uniform illumination. The industrial camera 12 and the compensation light source 13 are both electrically connected to the control system module 4 to transmit captured image information to the control system module 4 and to receive control signals from the control system module 4.

[0034] Reference Figure 3 The fixture module 3 includes a mounting frame 31, a rotating shaft 32, a clamping frame 33, and a clamping assembly 34. The mounting frame 31 is typically made of stainless steel and is fixed to the manipulator module 2 via a clamp connection mechanism 5. The rotating shaft 32 is rotatably mounted on the mounting frame 31 and may be supported by bearings to reduce friction during rotation. The manipulator module 2 is provided with a rotating structure for driving the rotating shaft 32. The clamping frame 33 is fixed to the rotating shaft 32 and rotates with it. The clamping assembly 34 is mounted on the clamping frame 33 and is used to clamp the workpiece.

[0035] Reference Figure 3 Specifically, the clamping assembly 34 includes a first clamping arm 341, a second clamping arm 342, and a driving structure. The first clamping arm 341 and the second clamping arm 342 are usually made of high-strength plastic or metal, and are rotatably arranged on the clamping frame 33 in the direction of approaching or moving away from each other. The first clamping arm 341 and the second clamping arm 342 are symmetrically arranged on both sides of the clamping frame 33. The driving structure includes a first connecting rod 343, a second connecting rod 344, a pull rod 345, and an electric push rod 346. The first connecting rod 343 is hinged to the first clamping arm 341, and the second connecting rod 344 is hinged to the second clamping arm 342. A guide rod 331 is fixedly provided on the clamping frame 33, and the length direction of the guide rod 331 is parallel to the length direction of the rotating shaft 32. A sliding sleeve is fixedly provided on the pull rod 345, and the sliding sleeve is slidably sleeved on the guide rod 331. The pull rod 345 is hinged to the first connecting rod 343 and the second connecting rod 344 respectively. The electric push rod 346 is installed on the clamping frame 33. The movable rod of the electric push rod 346 is fixedly connected to the sliding sleeve to drive the pull rod 345 to slide, cooperate with the first connecting rod 343 and the second connecting rod 344, and drive the first clamping arm 341 and the second clamping arm 342 to rotate.

[0036] Reference Figure 3 The clamping frame 33 is provided with an elastic member 332 for driving the first clamping arm 341 and the second clamping arm 342 to deflect away from each other. The elastic member 332 is a spring, which is mounted on the guide rod 331. The two ends of the spring respectively abut the clamping frame 33 and the sliding sleeve. The elastic force of the spring pushes the sliding sleeve to slide, thereby opening the first clamping arm 341 and the second clamping arm 342. The electric push rod 346 here can also be replaced by a cylinder, which has the advantage of fast response speed.

[0037] Reference Figure 3 and Figure 4 The electric push rod 346 is electrically connected to a socket 347 , and the end effector 21 is provided with a plug 211 adapted to the socket 347 to achieve electrical connection.

[0038] Reference Figure 4 and Figure 5 The rotating structure includes a main shaft 22 and a motor 23. The main shaft 22 is rotatably mounted at the end of the manipulator module 2. A plug-in portion 221 is provided at the end of the main shaft 22. A slot 321 is provided at the end of the rotating shaft 32 for receiving the plug-in portion 221. The plug-in portion 221 is adapted to fit into the slot 321. The motor 23 is used to drive the main shaft 22 to rotate, thereby driving the rotating shaft 32 to rotate. The end effector 21 is electrically connected to the motor 23 to control the motor 23.

[0039] Reference Figure 3 and Figure 4 The fixture connection mechanism 5 includes a connecting frame 51, a clamping sleeve 52 and a locking member 53. The connecting frame 51 is fixedly arranged at the tail end of the manipulator module 2 by bolts, and the main shaft 22 is rotatably passed through the connecting frame 51, and the clamping sleeve 52 is slidably arranged on the connecting frame 51 in a direction perpendicular to the main shaft 22. A clamping portion 521 is provided on both sides of the clamping sleeve 52, and a clamping groove 311 for inserting the clamping portion 521 is provided on both sides of the mounting frame 31. The locking member 53 adopts a lock buckle to fix the clamping sleeve 52 on the connecting frame 51. After the connection between the rotating shaft 32 and the main shaft 22 is completed, the clamping sleeve 52 is slid so that the clamping portions 521 on both sides of the clamping sleeve 52 are respectively inserted into the corresponding clamping grooves 311 on both sides of the mounting frame 31, and then the clamping sleeve 52 is locked and fixed by the lock buckle, so that the quick installation of the fixture module 3 can be completed, thereby improving the convenience of replacing and maintaining the fixture module 3.

[0040] Reference Figure 4 and Figure 5 Furthermore, a positioning block 222 is provided on the side wall of the plug-in portion 221, and a positioning slot is provided at the end of the rotating shaft 32 for inserting the positioning block 222. Through the setting of the positioning block 222 and the positioning slot, when the rotating shaft 32 is connected to the main shaft 22, it is convenient to determine the relative position between the main shaft 22 and the rotating shaft 32, thereby ensuring that the main shaft 22 and the rotating shaft 32 are accurately aligned.

[0041] Reference Figure 5The side wall of the plug-in portion 221 is also provided with a receiving groove 223, and an elastic pressure plate 224 is fixedly arranged in the receiving groove 223. The elastic pressure plate 224 is made of elastic steel. One end of the elastic pressure plate 224 is fixedly arranged in the receiving groove 223, and a spherical bump 225 is provided on the end surface of the elastic pressure plate 224 away from the plug-in portion 221. The side wall of the plug-in groove 321 is provided with a positioning groove for inserting the spherical bump 225. When the plug-in portion 221 is inserted into the plug-in slot 321 of the rotating shaft 32, the elastic pressure plate 224 is squeezed and deformed into the accommodating slot 223. When the plug-in portion 221 is fully inserted into the plug-in slot 321 of the rotating shaft 32, the spherical protrusion 225 is snapped into the positioning slot under the elastic force of the elastic pressure plate 224. The staff can judge whether the rotating shaft 32 is installed in place according to the sound when the spherical protrusion 225 is snapped into the positioning slot; and when the spherical protrusion 225 is snapped into the positioning slot, it can also play a certain damping role on the rotating shaft 32, which is convenient for aligning the clamping portion 521 on the clamping sleeve 52 with the clamping slot 311 on the mounting frame 31, thereby improving the convenience of installation.

[0042] The implementation principle of this embodiment is as follows: the device adopts a modular design, supports rapid transformation of production lines, and adapts to various production scenarios. The fixture module 3 is adapted according to the shape of the workpiece, and the manipulator module 2 is connected to the fixture module 3 through the fixture connection mechanism 5, which can meet the production needs of different workpieces; each module has a clear division of labor and cooperates with each other, using the visual module 1 to identify the position of the workpiece, and the control system module 4 controls the movement of the manipulator module 2 according to its coordinate information. The workpiece is grasped by the fixture module 3, which can flexibly adapt to changes in the position of different workpieces, effectively solving the problem that traditional manipulators are difficult to adapt to the production and processing needs of diversified products, realizing automated loading and unloading operations, and improving the versatility and adaptability of the equipment.

[0043] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A modular vision-guided robot loading and unloading device, characterized in that: include: A vision module (1), installed on the production line, is used to identify the position of the workpiece and output coordinate information; A manipulator module (2) is installed on a production line, wherein a clamp connection mechanism (5) and an end effector (21) are provided at the end of the manipulator module (2); A clamp module (3) is mounted on the end of the manipulator module (2) via a clamp connection mechanism (5), and the clamp module (3) is electrically connected to the end effector (21) for grasping a workpiece; a control system module (4) electrically connected to the vision module (1), the manipulator module (2) and the end effector (21), respectively, for controlling the movement of the manipulator module (2) according to coordinate information output by the vision module (1), and controlling the movement of the fixture module (3) through the end effector (21); The clamp module (3) comprises a mounting frame (31), a rotating shaft (32), a clamping frame (33) and a clamping assembly (34); the mounting frame (31) is fixed to the manipulator module (2) via a clamp connection mechanism (5); the rotating shaft (32) is rotatably mounted on the mounting frame (31); a rotating structure for driving the rotating shaft (32) to rotate is provided on the manipulator module (2); the clamping frame (33) is fixedly mounted on the rotating shaft (32); and the clamping assembly (34) is arranged on the clamping frame (33) for clamping a workpiece; The rotating structure comprises a main shaft (22) and a motor (23); the main shaft (22) is rotatably arranged at the end of the manipulator module (2); a plug-in portion (221) is provided at the end of the main shaft (22); a plug-in slot (321) is provided at the end of the rotating shaft (32) for inserting the plug-in portion (221); and the plug-in portion (221) is adapted to fit the plug-in slot (321); the motor (23) is used to drive the main shaft (22) to rotate, and the end effector (21) is electrically connected to the motor (23); The clamp connection mechanism (5) includes a connecting frame (51), a clamping sleeve (52) and a locking member (53), wherein the connecting frame (51) is fixedly arranged at the tail end of the manipulator module (2), the clamping sleeve (52) is slidably arranged on the connecting frame (51) along a direction perpendicular to the main axis (22), the clamping sleeve (52) is provided with a clamping portion (521), the mounting frame (31) is provided with a clamping slot (311) for inserting the clamping portion (521), and the locking member (53) is used to fix the clamping sleeve (52) on the connecting frame (51).

2. A modular vision-guided robot loading and unloading device according to claim 1, characterized in that: The vision module (1) comprises a bracket (11), an industrial camera (12) and a compensation light source (13); the bracket (11) is fixedly arranged on a production line; the industrial camera (12) is mounted on the bracket (11) and is used to collect surface features of a workpiece; the compensation light source (13) is arranged on the bracket (11) and is used for illumination; and both the industrial camera (12) and the compensation light source (13) are electrically connected to a control system module (4).

3. The modular vision-guided robot loading and unloading device according to claim 1, characterized in that: The clamping assembly (34) comprises a first clamping arm (341), a second clamping arm (342) and a driving structure. The first clamping arm (341) and the second clamping arm (342) are arranged on the clamping frame (33) to rotate in a direction of approaching or moving away from each other. The driving structure is used to drive the first clamping arm (341) and the second clamping arm (342) to rotate.

4. The modular vision-guided robot loading and unloading device according to claim 3, characterized in that: The driving structure includes a first connecting rod (343), a second connecting rod (344), a pull rod (345) and an electric push rod (346), wherein the first connecting rod (343) is hinged to the first clamping arm (341), and the second connecting rod (344) is hinged to the second clamping arm (342), and the pull rod (345) is slidably arranged on the clamping frame (33), and the pull rod (345) is hinged to the first connecting rod (343) and the second connecting rod (344) respectively, and the electric push rod (346) is installed on the clamping frame (33) for driving the pull rod (345) to slide, and the electric push rod (346) is electrically connected to a socket (347), and the end actuator (21) is provided with a plug (211) adapted to the socket (347).

5. The modular vision-guided robot loading and unloading device according to claim 4, characterized in that: The clamping frame (33) is provided with an elastic member (332) for driving the first clamping arm (341) and the second clamping arm (342) to deflect in directions away from each other.

6. The modular vision-guided robot loading and unloading device according to claim 1, characterized in that: A positioning block (222) is provided on the side wall of the plug-in portion (221), and a positioning slot for inserting the positioning block (222) is provided at the end of the rotating shaft (32).

7. The modular vision-guided robot loading and unloading device according to claim 6, characterized in that: The side wall of the plug-in portion (221) is provided with a receiving groove (223), an elastic pressure plate (224) is fixedly provided in the receiving groove (223), a spherical bump (225) is provided on the elastic pressure plate (224), and a positioning groove for inserting the spherical bump (225) is provided on the side wall of the plug-in groove (321).

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