Automatic carrying system for tool clamps

Abstract

The invention relates to the technical field of industrial automatic equipment, in particular to an automatic carrying system for tool clamps. Comprising a carrying robot, a sensor module, a central control module and a tool clamp recognition module and is used for achieving automatic and accurate carrying of tool clamps in the industrial manufacturing environment, and the carrying robot is used for grabbing and placing the tool clamps of different sizes and shapes; the sensor module is configured in the transfer robot and a working environment and comprises a visual sensor, a force sensor and an ultrasonic sensor; the central control module integrates an artificial intelligence algorithm and is responsible for coordinating the operation of the whole system; the tool clamp identification module uses machine vision and a deep learning technology to rapidly identify and classify tool clamps, and can identify the type, size and state information of the clamps. By integrating the advanced sensor module, the central control module and the tool clamp recognition module, automatic and accurate carrying of different tool clamps is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial automation equipment, and particularly relates to a tooling fixture automatic carrying system. BACKGROUND

[0002] In modern industrial production, an automatic carrying system is an important means to improve production efficiency and reduce labor intensity. Traditional carrying methods mostly rely on manual operation, which is not only low in efficiency, but also prone to operator fatigue, leading to operation errors. With the development of industrial automation technology, the application of carrying robots has gradually become popular, but the existing carrying system still has some shortcomings.

[0003] Firstly, the existing carrying system often needs to replace the fixture or make complex adjustments when handling tooling fixtures of different sizes and shapes, which limits the carrying efficiency and flexibility. Secondly, for accurate control and environmental adaptability during carrying, the existing system often lacks sufficient sensor support, making it difficult to ensure the accuracy and safety of carrying in complex and variable industrial environments. In addition, the existing carrying system also has limitations in identifying and classifying tooling fixtures, which cannot quickly and accurately identify tooling fixtures, thereby affecting the efficiency of the entire carrying process. SUMMARY

[0004] The present application proposes a tooling fixture automatic carrying system, which aims to realize the automatic and accurate carrying of different tooling fixtures by integrating advanced sensor modules, central control modules and tooling fixture identification modules.

[0005] The technical solution adopted by the present application is: a tooling fixture automatic carrying system, comprising a carrying robot, a sensor module, a central control module and a tooling fixture identification module, for realizing the automatic and accurate carrying of tooling fixtures in an industrial manufacturing environment,

[0006] The carrying robot is used to grasp and place tooling fixtures of different sizes and shapes; the sensor module is configured in the carrying robot and the working environment, and comprises a vision sensor, a force sensor and an ultrasonic sensor; the central control module integrates artificial intelligence algorithms and is responsible for coordinating the operation of the entire system; the tooling fixture identification module uses machine vision and deep learning technology to quickly identify and classify tooling fixtures, and can identify fixture types, sizes and state information.

[0007] As a further improvement of the application, the carrying robot comprises a support platform, the bottom of which is fixedly connected with a first motor and a support chassis at both ends respectively, the output shaft of the first motor penetrates through the support platform and is fixedly connected with a first transmission wheel, the top of the end of the support platform away from the first motor is fixedly connected with a fixed seat, the fixed seat is rotatably connected with a second transmission wheel through a rotating shaft, the first transmission wheel and the second transmission wheel are connected through a transmission belt, a sliding seat is installed on the transmission belt, a gas cylinder is fixedly connected to the top of the sliding seat, the movable end of the gas cylinder is fixedly connected with a frame, one side of the frame is fixedly connected with a side frame, a second motor is fixedly connected in the side frame, the output end of the second motor is provided with a bidirectional screw rod penetrating through the frame and rotatably connected with the frame, two symmetrically arranged sliding blocks are threadedly connected on the bidirectional screw rod, a guide rod is fixedly connected in the frame and penetrates through the two sliding blocks, the two sliding blocks are slidably connected with the guide rod and the top of the two sliding blocks are fixedly connected with a first grabbing seat, a second grabbing seat is fixedly connected to the front side of each of the two sliding blocks.

[0008] As a further improvement of the application, the support platform is fixedly connected with a cover plate covering the transmission belt on the top, and the support platform is fixedly connected with a guide rail on the top and the sliding seat slides on the guide rail.

[0009] As a further improvement of the application, the two ends of the bidirectional screw rod are rotatably connected with the two side walls of the frame through bearings respectively.

[0010] As a further improvement of the application, the visual sensor is used to capture the image of the tooling fixture in real time, and the position and attitude data of the fixture are generated through the built-in image processing algorithm; the force sensor is used to detect the force applied during the execution of the first grabbing seat and the second grabbing seat to ensure safe and stable operation; the ultrasonic sensor is used to detect the surrounding environmental obstacles to prevent collision.

[0011] As a further improvement of the application, the central control module is connected with the first motor, the second motor, the gas cylinder, the visual sensor, the force sensor and the ultrasonic sensor through wireless communication, ensuring the real-time and accuracy of signal transmission, and the central control module analyzes and processes the collected data through artificial intelligence algorithm, and adjusts the action of the carrying robot in real time to adapt to different working environment and carrying requirements.

[0012] As a further improvement of the application, the tooling fixture recognition module adopts high-resolution camera and image processing technology, which can accurately capture the appearance features of the tooling fixture under complex lighting conditions.

[0013] As a further improvement of the present application, the tooling fixture recognition module works in coordination with the central control module, and after recognizing the fixture type, size and state, it immediately feeds back to the central control module to make corresponding mechanical action adjustments, improving the carrying efficiency.

[0014] The beneficial effects of the present application are: (1) improving carrying efficiency and flexibility: the present application can realize real-time monitoring and accurate control of tooling fixtures by integrating advanced sensor modules and central control modules, and the carrying robot can automatically adapt to tooling fixtures of different sizes and shapes without frequent replacement of fixtures or complex adjustments, thereby significantly improving carrying efficiency and flexibility.

[0015] (2) Enhancing the accuracy and safety of the carrying process: the visual sensor, force sensor and ultrasonic sensor in the sensor module of the present application provide comprehensive information support for the carrying process, the visual sensor captures the image of the tooling fixture in real time, the force sensor monitors the force during the grabbing process, and the ultrasonic sensor detects the surrounding environmental obstacles, which together ensure the accuracy and safety of the carrying process.

[0016] (3) Optimizing the recognition and classification ability of tooling fixtures: the tooling fixture recognition module of the present application uses high-resolution cameras and image processing technology to accurately capture the appearance features of tooling fixtures under complex lighting conditions, and works in coordination with the central control module to realize fast and accurate recognition and classification, which not only improves the carrying efficiency, but also reduces the operation errors. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a whole system block diagram of a tooling fixture automated carrying system of the present application;

[0018] Figure 2 is a carrying robot structure schematic diagram of a tooling fixture automated carrying system of the present application;

[0019] Figure 3 is a carrying robot local structure schematic diagram of a tooling fixture automated carrying system of the present application Figure 1 ;

[0020] Figure 4 is a carrying robot local structure schematic diagram of a tooling fixture automated carrying system of the present application Figure 2 ;

[0021] Figure 5 is a carrying robot local structure schematic diagram of a tooling fixture automated carrying system of the present application Figure 3 ;

[0022] Figure 6 is a carrying robot local structure exploded view of a tooling fixture automated carrying system of the present application.

[0023] As shown: 1, carrying robot; 101, support platform; 102, first motor; 103, support chassis; 104, first transmission wheel; 105, rotating shaft; 106, second transmission wheel; 107, transmission belt; 108, sliding seat; 109, air cylinder; 110, frame; 111, side frame; 112, second motor; 113, bidirectional screw; 114, sliding block; 115, guide rod; 116, fixed seat; 117, first grabbing seat; 118, second grabbing seat; 119, shutter; 120, guide rail; 2, sensor module; 201, visual sensor; 202, force sensor; 203, ultrasonic sensor; 3, central control module; 4, tool clamp identification module. DETAILED DESCRIPTION

[0024] In this specification, the orientation terms such as up, down, left, right, front, back, top, bottom, etc. mentioned or can be mentioned are defined relative to its structure, which are relative concepts. Therefore, it is possible to change accordingly according to its different positions, different use states; therefore, these or other orientation terms should not be interpreted as restrictive terms.

[0025] The singular forms "a", "said" and "the" used in this specification are intended to include plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein means and includes any or all possible combinations of one or more associated listed items.

[0026] In order to make the technical problems, technical solutions and beneficial effects of the present application clearer, the present application will be further described in detail below in combination with the drawings and embodiments. It should be understood that the embodiments described herein are only used to explain the present application and not to limit the present application.

[0027] The present application provides a tool clamp automatic carrying system as shown in the accompanying drawings. Figures 1-6 The present application provides a tool clamp automatic carrying system as shown in the accompanying drawings. The tool clamp automatic carrying system includes a carrying robot 1, a sensor module 2, a central control module 3, and a tool clamp identification module 4, which is used to realize the automatic and accurate carrying of tool clamps in an industrial manufacturing environment. The carrying robot 1 is used to grab and place tool clamps of different sizes and shapes. The sensor module 2 is configured in the carrying robot and the working environment, including a visual sensor 201, a force sensor 202, and an ultrasonic sensor 203. The central control module 3 integrates artificial intelligence algorithms and is responsible for coordinating the operation of the entire system. The tool clamp identification module 4 uses machine vision and deep learning technology to quickly identify and classify tool clamps, and can identify the type, size, and state information of the clamps.

[0028] As shown in the accompanying drawings: Figures 2-6As shown, the carrying robot 1 in the application includes a support platform 101, the bottom of which is fixedly connected with a first motor 102 and a support chassis 103 at both ends respectively, the output shaft of the first motor 102 penetrates through the support platform 101 and is fixedly connected with a first transmission wheel 104, the top of the end of the support platform 101 away from the first motor 102 is fixedly connected with a fixed seat 116, a second transmission wheel 106 is rotatably connected in the fixed seat 116 through a rotating shaft 105, the first transmission wheel 104 and the second transmission wheel 106 are connected through a transmission belt 107, the transmission belt 107 is provided with a sliding seat 108, the top of the sliding seat 108 is fixedly connected with an air cylinder 109, the movable end of the air cylinder 109 is fixedly connected with a frame body 110, the frame body 110 is fixedly connected with a side frame 111 on one side, the side frame 111 is fixedly connected with a second motor 112, the output end of the second motor 112 is provided with a bidirectional screw rod 113 penetrating through the frame body 110 and rotatably connected with the frame body 110, two symmetrically arranged sliding blocks 114 are threadedly connected on the bidirectional screw rod 113, a guide rod 115 is fixedly connected in the frame body 110 and penetrates through the two sliding blocks 114, the two sliding blocks 114 are slidably connected with the guide rod 115 and the top of each of the two sliding blocks 114 is fixedly connected with a first grabbing seat 117, the front side of each of the two sliding blocks 114 is fixedly connected with a second grabbing seat 118, the top of the support platform 101 is fixedly connected with a baffle 119 covering the transmission belt 107, the top of the support platform 101 is fixedly connected with a guide rail 120 and the bottom of the sliding seat 108 slides on the guide rail 120, the two ends of the bidirectional screw rod 113 are rotatably connected with the two side walls of the frame body 110 through bearings respectively.

[0029] The visual sensor 201 in the application is used for capturing images of the tool fixture in real time, and generating position and attitude data of the fixture through the built-in image processing algorithm; the force sensor 202 is used for detecting the force applied during the execution of the first grabbing seat and the second grabbing seat, to ensure safe and stable operation; the ultrasonic sensor 203 is used for detecting surrounding environmental obstacles to prevent collision.

[0030] The central control module 3 in the application is connected with the first motor 102, the second motor 112, the air cylinder 109, the visual sensor 201, the force sensor 202 and the ultrasonic sensor 203 through wireless communication, to ensure the real-time and accuracy of signal transmission, the central control module 3 analyzes and processes the collected data through artificial intelligence algorithm, and adjusts the action of the carrying robot 1 in real time to adapt to different working environments and carrying requirements.

[0031] The tool clamp recognition module 4 in the application adopts a high-resolution camera and image processing technology, and can accurately capture the appearance features of the tool clamp under complex lighting conditions; the tool clamp recognition module 4 cooperates with the central control module 3, and after identifying the type, size and state of the clamp, immediately feeds back to the central control module 3, so as to make corresponding mechanical action adjustment and improve the carrying efficiency.

[0032] Working principle: in the specific implementation of the application, first, the carrying robot 1 will be positioned according to the instruction of the central control module 3 through the tool clamp image captured by the visual sensor 201; then, the tool clamp recognition module 4 analyzes the image data and identifies the type, size and state information of the tool clamp; once the identification is completed, the central control module 3 will calculate the best grabbing strategy and send instructions to the carrying robot 1 through wireless communication.

[0033] After receiving the instruction, the cylinder 109 of the carrying robot 1 drives the sliding seat 108 to move to the specified position along the guide rail 120, at the same time, the second motor 112 drives the bidirectional screw rod 113 to rotate, so that the sliding block 114 slides along the guide rod 115, and then drives the first grabbing seat 117 and the second grabbing seat 118 to approach the tool clamp, under the monitoring of the force sensor 202, the grabbing seat grabs the tool clamp with appropriate force, ensuring safety and stability.

[0034] Through the driving of the first motor 102, and by the cooperation of the first transmission wheel 104 and the second transmission wheel 106, the transmission belt 107 drives the sliding seat 108 to slide on the guide rail 120, so as to realize the carrying of the tool clamp, in the carrying process, the ultrasonic sensor 203 continuously monitors the surrounding environment to avoid collision between the carrying robot 1 and the obstacle, once the obstacle is detected, the central control module 3 will immediately control the first motor 102 to stop, avoiding collision with the obstacle.

[0035] After arriving at the destination, the carrying robot 1 places the tool clamp accurately according to the instruction of the central control module 3 through the cooperation of the cylinder 109 and the second motor 112, after the placement is completed, the central control module 3 will receive the signal of successful placement, and prepare for the next carrying task.

[0036] The whole carrying process is monitored and adjusted in real time by the central control module 3, ensuring the efficiency and accuracy of the carrying. Through this automatic carrying system, the work efficiency in the industrial manufacturing environment can be significantly improved, the labor cost can be reduced, and the risk caused by human operation error can be reduced.

[0037] The above embodiments are only used to illustrate the technical solutions of the present application, but not intended to limit the present application; even though the present application has been described in detail with reference to the foregoing embodiments, those ordinarily skilled in the art should understand: the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features thereof can be replaced by equivalent replacements; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An automated tooling and fixture handling system, characterized in that: It includes a handling robot (1), a sensor module (2), a central control module (3), and a tooling fixture recognition module (4), which are used to realize the automated and precise handling of tooling fixtures in industrial manufacturing environments. The transport robot (1) is used to grasp and place tooling fixtures of different sizes and shapes; the sensor module (2) is configured in the transport robot and the working environment, including a vision sensor (201), a force sensor (202) and an ultrasonic sensor (203); the central control module (3) integrates artificial intelligence algorithms and is responsible for coordinating the operation of the entire system; the tooling fixture recognition module (4) uses machine vision and deep learning technology to quickly identify and classify tooling fixtures, and can distinguish the fixture type, size and status information.

2. The tooling fixture automated handling system according to claim 1, characterized in that: The handling robot (1) includes a support platform (101). A first motor (102) and a support base (103) are fixedly connected to the bottom ends of the support platform (101). The output shaft of the first motor (102) passes through the support platform (101) and is fixedly connected to a first transmission wheel (104). A fixed seat (116) is fixedly connected to the top of the support platform (101) away from the first motor (102). A second transmission wheel (106) is rotatably connected to the fixed seat (116) through a rotating shaft (105). The first transmission wheel (104) and the second transmission wheel (106) are connected by a transmission belt (107). A sliding seat (108) is installed on the transmission belt (107). A cylinder (109) is fixedly connected to the top of the sliding seat (108). The movable end of the frame is fixedly connected to a frame (110). A side frame (111) is fixedly connected to one side of the frame (110). A second motor (112) is fixedly connected inside the side frame (111). The output end of the second motor (112) is provided with a bidirectional lead screw (113) that passes through the frame (110) and is rotatably connected to it. Two symmetrically arranged sliding blocks (114) are threaded on the bidirectional lead screw (113). A guide rod (115) is fixedly connected inside the frame (110) and passes through the two sliding blocks (114). The two sliding blocks (1164) are slidably connected to the guide rod (115), and a first gripping seat (117) is fixedly connected to the top of each of the two sliding blocks (114). A second gripping seat (118) is fixedly connected to the front side of each of the two sliding blocks (114).

3. The tooling fixture automated handling system according to claim 2, characterized in that: The top of the support platform (101) is fixedly connected to a cover plate (119) that covers the transmission belt (107), and the top of the support platform (101) is fixedly connected to a guide rail (120) and the bottom of the sliding seat (108) slides on the guide rail (120).

4. The tooling fixture automated handling system according to claim 2, characterized in that: Both ends of the bidirectional lead screw (113) are rotatably connected to the two side walls of the frame (110) via bearings.

5. The automated tooling and fixture handling system according to claim 1, characterized in that: The vision sensor (201) is used to capture images of the tooling fixture in real time and generate position and orientation data of the fixture through a built-in image processing algorithm; the force sensor (202) is used to detect the force applied by the first gripper and the second gripper during execution to ensure safe and stable operation; the ultrasonic sensor (203) is used to detect obstacles in the surrounding environment to prevent collisions.

6. The automated tooling and fixture handling system according to claim 1, characterized in that: The central control module (3) is wirelessly connected to the first motor (102), the second motor (112), the cylinder (109), the vision sensor (201), the force sensor (202), and the ultrasonic sensor (203) to ensure the real-time and accuracy of signal transmission. The central control module (3) analyzes and processes the collected data through artificial intelligence algorithms to adjust the actions of the handling robot (1) in real time to adapt to different working environments and handling needs.

7. The tooling fixture automated handling system according to claim 1, characterized in that: The tooling fixture recognition module (4) uses a high-resolution camera and image processing technology, which can accurately capture the appearance features of tooling fixtures under complex lighting conditions.

8. The automated tooling and fixture handling system according to claim 1, characterized in that: The tooling fixture identification module (4) works in conjunction with the central control module (3). After identifying the fixture type, size and status, it immediately feeds back to the central control module (3) so that corresponding mechanical action adjustments can be made to improve handling efficiency.

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