Manipulator photographing equipment

Abstract

The invention discloses manipulator photographing equipment, and belongs to the technical field of manipulators. The equipment comprises a mounting frame, a manipulator module and a camera module. The mechanical arm module comprises a PPU driving module and a material taking module. The core of the invention is that the camera module comprises a horizontal camera module fixedly mounted on the manipulator module, and the horizontal camera module synchronously moves along with the manipulator module and is used for shooting the relative position of the material taking module and the material in real time. The camera module generally also includes a vertical camera secured to the mounting frame. The horizontal camera is integrated on the mechanical arm body, real-time visual feedback of the material state in the continuous movement process of the mechanical arm is achieved, the visual controller dynamically corrects the grabbing posture according to image data, the problem that the efficiency is low due to the fact that traditional equipment needs to be shut down for photographing is effectively solved, and the grabbing precision and efficiency are remarkably improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of mechanical hands, and particularly relates to a mechanical hand photographing device. BACKGROUND

[0002] A mechanical hand is an automatic operating device capable of imitating some action functions of human hands and arms to grab, carry objects or operate tools according to a fixed program. The mechanical hand is widely applied to material grabbing, assembly and detection links, but the traditional device has a technical bottleneck of needing static positioning for photographing and identification. Most existing devices adopt a step-by-step operation mode of 'positioning first and then grabbing'. The mechanical arm needs to pause the movement for photographing and positioning, which leads to a large reduction in production efficiency.

[0003] Meanwhile, in the transmission process of the material, the material is easily affected by factors such as vibration and inertia, and there is a deviation between the actual position and the preset coordinate. The traditional mechanical hand is prone to failure in the final material grabbing due to the preset deviation because of the lack of real-time position feedback.

[0004] To solve the above problems, the existing mechanical arm mostly increases physical guide rails to constrain the displacement of the material, or stops at the image acquisition point in the grabbing process to acquire images, and then corrects the grabbing path. However, it is difficult to adapt to the grabbing of materials of multiple specifications by relying only on the constraint of the physical guide rails. The acquisition method of stopping at the image acquisition point needs to spend a certain amount of time when stopping, and the overall process is relatively long, which is not conducive to the improvement of the material distribution efficiency.

[0005] Therefore, there is an urgent need for a device capable of realizing real-time visual feedback and dynamically correcting the grabbing path in the continuous motion state of the mechanical arm to break through the dilemma that the current mechanical arm is difficult to balance between grabbing accuracy and efficiency. SUMMARY

[0006] The application sets the camera module on the mechanical hand motion module by adopting different camera setting directions, so that the mechanical hand module can feed back the position while moving, and the grabbing accuracy of the mechanical hand is improved.

[0007] The technical scheme adopted by the application is specifically as follows: A mechanical hand photographing device, comprising a mounting frame, a material loading disc arranged at the bottom of the mounting frame, a mechanical hand module and a camera module arranged on the mounting frame, wherein the mounting frame is provided with a visual controller, the mechanical hand module comprises a PPU driving module for driving the movement of the mechanical hand module in the horizontal direction and a material taking module for grabbing the material, and the camera module comprises a horizontal camera module; The horizontal camera module comprises a horizontal camera and a camera board, the horizontal camera module is fixedly installed on the mechanical hand module and moves synchronously with the mechanical hand module; The horizontal camera module is provided with a prism block, which is arranged in front of the lens of the horizontal camera and is used to refract the image of the material in the intermediate position of the movement path of the mechanical hand module into the field of view of the horizontal camera.

[0008] The horizontal camera module is installed on the lower half of the PPU driving module, and the movement path of the material taking module passes through the upper area of the camera plate.

[0009] The horizontal camera module further comprises a light ring cover and a camera plate, the light ring cover is used to provide illumination, the light ring cover is arranged on the front side of the horizontal camera, the light ring cover and the horizontal camera are both installed on the rear side of the camera plate, and the prism block (831) is installed on the front side of the camera plate.

[0010] The camera module further comprises a vertical camera, which is fixedly installed on the camera mounting column of the mounting frame and is arranged with a lens direction vertically downward, and is used to shoot the orientation of the material in the material loading disc.

[0011] The mounting frame is provided with a horizontal guide rail, the mechanical hand module is slidably connected with the horizontal guide rail through a sliding module, and is driven by a first motor to move in the horizontal direction.

[0012] The mechanical hand module further comprises a vertical guide rail, the vertical guide rail is connected with the sliding module, the PPU driving module is slidably connected with the vertical guide rail through a connecting plate, and is driven by a second motor and a third motor to move in the vertical direction.

[0013] The material taking module is slidably connected with the strip-shaped sliding rail arranged on the PPU driving module through the motor base thereof, the material taking module comprises a fourth motor, a suction nozzle and a rotary connecting head, and the fourth motor drives the rotary connecting head and the suction nozzle to rotate.

[0014] The device further comprises a conveying belt module, which is used to convey the material to the material loading disc.

[0015] The conveying belt module comprises a conveying belt and a discharge port, the conveying belt is used to transport the material, and the material is conveyed to the material loading disc at the discharge port.

[0016] The visual controller is arranged in the controller assembly frame of the mounting frame, the camera module is wirelessly or electrically connected with the visual controller, the visual controller is used to receive and process the image of the material in the intermediate state shot by the horizontal camera, and to judge the grabbing state or generate a movement correction instruction for the mechanical hand module based on the image.

[0017] The beneficial effects of the present application are: the present application sets the camera module on the manipulator module, realizes the accurate recording and feedback of the position while the manipulator moves, realizes the almost synchronous vision recognition and grabbing, and greatly improves the efficiency and accuracy of the manipulator when grabbing materials, especially small materials. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is the overall structure view of the present application.

[0019] Figure 2 It is the front structure view of the present application.

[0020] Figure 3 It is the back structure view of the present application.

[0021] Figure 4 It is the guide rail and manipulator driving module structure schematic view of the present application.

[0022] Figure 5 It is the side view of the guide rail and manipulator driving module of the present application.

[0023] Figure 6 It is the explosion structure schematic view of the guide rail and manipulator driving module of the present application.

[0024] Figure 7 It is the structure schematic view of the transmission belt and loading disc part of the present application.

[0025] In the figure: 1, mounting frame; 11, controller assembly frame; 12, base; 13, horizontal guide rail; 14, vertical column; 15, visual controller; 16, control panel; 17, camera mounting column; 18, first motor; 2, PPU driving module; 21, strip-shaped sliding rail; 22, clamping sliding block; 3, material taking module; 31, fourth motor; 32, suction nozzle; 33, rotary connector; 34, motor seat; 4, transmission belt module; 41, conveying belt; 42, discharge port; 5, material loading disc; 6, vertical guide rail; 61, second motor; 62, connecting plate; 63, third motor; 7, sliding module; 8, horizontal camera module; 81, horizontal camera; 82, light ring cover; 83, camera plate; 831, prism block; 9, vertical camera. DETAILED DESCRIPTION

[0026] The specific embodiments of the present application will be described in detail below in combination with the drawings. The preferred embodiments of the present application do not constitute a limitation on the scope of the invention.

[0027] As Figures 1 to 7As shown, the mechanical hand photographing device of the present application comprises a mounting frame 1, a PPU driving module 2, a material taking module 3, a conveying belt module 4, a material loading disc 5 and a camera module. The mounting frame 1 is the support frame of the whole device, and other modules are all mounted on the inner side or surface of the mounting frame 1. The PPU driving module 2 and the material taking module 3 constitute the whole mechanical hand module, and are movably connected. The PPU driving module 2 is used to control the movement of the material taking module 3 in the horizontal direction, and the material taking module 3 can move in the vertical direction and take the material arranged in the material loading disc 5. The conveying belt module 4 is used to carry the material to be sorted to the material loading disc 5. The camera module is arranged on the mounting frame 1, and is used to shoot the material and the mechanical arm to obtain the position of the material in the horizontal and vertical directions, and send the position to the controller of the whole mechanical hand module, so that the target material can be more accurately grabbed.

[0028] The mounting frame 1 is provided with a horizontal guide rail 13, a visual controller 15, a control panel 16, a camera mounting column 17 and a first motor 18. The mounting frame 1 is composed of two upright columns 14, a base 12 and a controller assembly frame 11. The upright column 14 is arranged above the base 12, and the controller assembly frame 11 is arranged above the two upright columns 14. Each upright column 14 comprises two or more than two steel bars, which provide vertical support for the base 12 and the controller assembly frame 11, so that the weight of the controller assembly frame 11 and the visual controller 15 arranged therein can be more stably borne. The camera mounting column 17 is arranged above the controller assembly frame 11 and is used to fix the camera.

[0029] The horizontal guide rail 13 is arranged below the controller assembly frame 11 and is used to support the movement of the mechanical hand module. The horizontal guide rail 13 is connected with the vertical guide rail 6 through the sliding module 7 arranged thereon. The sliding module 7 moves in the horizontal direction, thereby driving the vertical guide rail 6 to move in the horizontal direction, and finally driving the mechanical hand module connected below the vertical guide rail 6 to move in the horizontal direction. The first motor 18 is arranged on one end of the horizontal guide rail 13 and is electrically connected with the sliding module 7. The first motor 18 is used to drive the sliding module 7 to move in the horizontal direction on the horizontal guide rail 13.

[0030] As shown, Figure 3The controller assembly frame 11 is provided with a visual controller 15, and the surface of the visual controller 15 is provided with a control panel 16. The visual controller 15 is electrically connected with the camera module and the control panel 16, and the visual controller 15 is also electrically connected with each motor. The control panel 16 is used to adjust the switch of the whole device and each part, and the visual controller 15 can be controlled by the instruction, so as to manually control the operation of each motor, and then manually adjust. In the general working process, the present application realizes automatic control through the visual controller 15. The image data of the camera module is transmitted to the visual controller 15, the visual controller 15 analyzes the deviation of the material and the target position by analyzing the image data of the camera module, and controls the movement of each motor at the same time, so as to correct the movement track of the manipulator module, and ensure that the manipulator can accurately grasp and release the material, and complete the precise and efficient picking work.

[0031] As Figure 7 The conveying belt module 4 includes a conveying belt 41 and a discharge port 42, which are used for conveying the material. The material loading plate 5 is arranged above the base plate and is used to carry the material to be grasped. The material is transported to the discharge port 42 through the conveying belt 41 of the conveying belt module 4, and then falls onto the material loading plate 5. The material loading plate 5 is provided with a fence around, which ensures that the material will not fall outside when being transported to the material loading plate 5.

[0032] After the material is transported to the material loading plate 5, the manipulator module can be controlled to grasp the material. At the same time that the manipulator module grasps the material, the camera module in the present application simultaneously photographs the manipulator module. The camera module includes a horizontal camera module 8 and a vertical camera 9. The horizontal camera module 8 is connected with the manipulator module. In the present application, the horizontal camera module 8 is arranged on the lower half side of the manipulator module. The horizontal camera module 8 includes a horizontal camera 81, a light ring cover 82 and a camera plate 83. The light ring cover 82 provides illumination to ensure clear photography, and the camera plate 83 is used to assist in fixing the position of the camera and the light ring cover 82, and at the same time limits the displacement distance of the material taking module 3, so that it is easier to accurately position when photographing. The camera plate 83 is provided with a prism block 831.

[0033] In the process of the material being grabbed by the manipulator module, the position of the manipulator module is between the camera plate 83 and the light ring cover 82 when the manipulator module does not grab the material. When the manipulator module places the material at the target position, the position of the manipulator module is outside the camera plate 83. After the material is grabbed by the manipulator, there is an intermediate state between the two states of the material being grabbed by the manipulator and the material being placed by the manipulator, and at this time, the manipulator module and the material are just above the camera plate 83. In order to correct the motion state of the manipulator module and detect the state of the material, the horizontal camera module 8 takes a picture of the state of the material at the intermediate state. At this time, the image of the material is imaged just in front of the horizontal camera 81 through the refraction of the prism block 831, and the horizontal camera 81 can take a picture to obtain the image of the material. Through the image, the position state of the material relative to the suction nozzle can be obtained, so that whether the grabbing state deviates at this time can be obtained. If the manipulator module does not grab the material before, the picture taken at the intermediate state can also know that the material fails to be grabbed, and at this time, the vision controller 15 can control the manipulator module to return to the initial position to grab the material again, without having to perform the whole process of grabbing and placing the material, thereby saving the correction time of the whole system.

[0034] The vertical camera 9 is fixed on the camera mounting column 17, and the direction of the camera head thereof is vertically downward. The orientation data image of each material to be grabbed in the material loading disc is shot by the vertical camera 9. The image of the intermediate state of the material shot by the horizontal camera 81 also includes the orientation data of the material relative to the suction nozzle 32 at this time. The orientation data image including the horizontal orientation and the vertical orientation is transmitted to the vision controller 15 through image data, and is finally converted into coordinate data. The conventional manipulator module and the photographing device need the manipulator to move to the photographing point after grabbing the material, and then a long time of pause is needed to complete the photographing. The horizontal camera module 8 of the present application is integrally arranged with the manipulator module, and can take a picture of the intermediate state of the material while the manipulator module grabs the material. Such cooperative work improves the positioning accuracy and solves the problem that it is difficult to correct the motion path while grabbing in the conventional manipulator photographing device.

[0035] As Figures 4 to 6A second motor 61 is mounted on the vertical guide rail 6. The second motor 61 drives the vertical guide rail 6, causing it to move longitudinally relative to the sliding module 7. A third motor 63 and a connecting plate 62 are located on the lower side of the vertical guide rail 6, with the shaft of the third motor 63 extending outward. The connecting plate 62 is L-shaped, with its upper half slidingly connected to the vertical guide rail 6 and its lower half tightly abutting the PPU drive module 2. The lower half of the connecting plate 62 has several screw holes. The center of the PPU drive module 2 has a hole connected to the shaft of the third motor 63, and screw holes are also provided at positions corresponding to the L-shaped connecting plate 62. The PPU drive module 2 is fixedly connected to the third motor 63 and the connecting plate 62 through the insertion and engagement of screws and the shaft. The third motor 63 drives the connecting plate 62 and the PPU drive module 2, causing them to move longitudinally relative to the vertical guide rail 6.

[0036] The material handling module 3 is connected to the PPU drive module 2 via a strip rail 21 on its surface, and the two are reinforced by a clamping slider 22. The material handling module 3 includes a fourth motor 31, a suction nozzle 32, a rotary connector 33, and a motor base 34. The motor base 34 has screw holes on its outer side, and is fixedly connected to the strip rail 21 via these screw holes and screws. The fourth motor 31 is fixedly mounted on the upper side of the motor base 34, with a hollow center. The shaft of the fourth motor 31 extends downwards through the center of the motor base 34. The rotary connector 33 is located on the lower side of the motor base 34 and connected to the shaft passing through the center of the motor base 34. The suction nozzle 32 is connected below the rotary connector 33. When picking up material, the PPU drive module 2 drives the suction cup assembly to move horizontally along the strip rail 21, and simultaneously moves it vertically up and down. The fourth motor 31 drives the rotary connector 33 to rotate until the suction nozzle 32 contacts the material, thus achieving the rotational gripping of the material.

[0037] The robotic arm photography device of the present invention achieves real-time visual feedback and dynamic correction of the grasping path during the continuous movement of the robotic arm through the coordinated operation of the horizontal camera module 8 and the vertical camera 9. Its working process will be described in detail below: After the equipment is powered on, the vision controller 15 first executes the system self-test and initialization program. The horizontal camera module 8 and the vertical camera 9 perform automatic focusing and calibration. During the calibration process, the robot arm module moves to the preset calibration position, and the vertical camera 9 takes a picture of the calibration plate fixed on the material loading tray 5. The vision controller 15 calculates the camera focal length and the transformation relationship between the pixel coordinate system and the robot arm coordinate system through image processing algorithms to establish a hand-eye calibration model. The horizontal camera module 8 also obtains its relative positional relationship with the material handling module 3 through calibration.

[0038] After the initialization check is completed, the transmission belt module 4 is started, and the transmission belt 41 transports the material to the discharge port 42, and the material falls into the material loading tray 5. The fence structure of the material loading tray 5 prevents the material from deviating out of the effective working area. The vertical camera 9 continuously photographs the material loading tray 5 to obtain the orientation data image of the material in the material loading tray 5. The vision controller 15 identifies the material position and posture and transmits the material coordinates to the control system.

[0039] The vision controller 15 generates an initial grasping path according to the material position, controls the first motor 18 to drive the sliding module 7 to move along the horizontal guide rail 13, drives the vertical guide rail 6 and the PPU driving module 2 to move horizontally as a whole. The second motor 61 drives the vertical guide rail 6 to move in the vertical direction, and the third motor 63 adjusts the longitudinal position of the PPU driving module 2 through the connecting plate 62, so that the material taking module 3 approaches the target material. At the same time, the light ring cover 82 of the horizontal camera module 8 provides illumination. When the material moves to the position directly above the camera plate 83, the horizontal camera 81 photographs the image refracted by the prism block 831 in real time to obtain the orientation data image of the material in the intermediate state of movement. The image data is transmitted to the vision controller 15 in real time.

[0040] The vision controller 15 calculates the offset and angle deviation of the material and the suction nozzle 32 through the image processing module, generates a correction instruction, and adjusts the movement parameters of the third motor 63 and the fourth motor 31 in real time to drive the PPU driving module 2 to fine-tune the horizontal position along the strip-shaped sliding rail 21, and at the same time, the fourth motor 31 adjusts the angle of the suction nozzle 32 through the rotating connecting head 33 to ensure that the suction nozzle 32 is accurately aligned with the material, so as to prevent the material from falling off from the suction nozzle during subsequent movement. If the material does not exist in the intermediate state image of the material photographed before, it is judged that the grasping fails, and the system will control the robot to return to the initial position and re-grasp the material.

[0041] After the robot module moves to the target placement position, the system controls the fourth motor 31 and finally controls the suction nozzle 32 assembly to release the material, and the one-time grasping, identifying and placing workflow of the material is completed.

[0042] In the present application, as a preferred embodiment, the vision controller 15 can also be added with a defective product identification program. If burrs or defects are found on the material during photographing, the robot can be controlled to place the material in the defective product area.

[0043] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "transverse", "longitudinal" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0044] The above describes the specific structural features, use methods and advantages of the present application. It should be noted that the specific implementation of the present application is not limited by the above method, as long as various non-essential improvements are made using the technical solutions of the present application, or the concept and technical solutions of the present application are directly applied to other occasions without improvement, all within the protection scope of the present application. The scope of protection claimed by the present application is defined by the claims and their equivalents.

Claims

1. A mechanical hand photographing device, comprising a mounting frame (1), a material loading plate (5) arranged at the bottom of the mounting frame (1), a mechanical hand module and a camera module arranged on the mounting frame (1), characterized in that: the mounting frame (1) is provided with a visual controller (15), the mechanical hand module comprises a PPU driving module (2) for driving the movement of the mechanical hand module in the horizontal direction and a material taking module (3) for grabbing materials; the camera module comprises a horizontal camera module (8), the horizontal camera module (8) comprises a horizontal camera (81), the horizontal camera module (8) is fixedly installed on the mechanical hand module and moves synchronously with the mechanical hand module; the horizontal camera module (8) is provided with a prism block (831), the prism block (831) is arranged in front of the lens of the horizontal camera (81), and the prism block (831) is used for refracting the image of the material in the intermediate position of the movement path of the mechanical hand module into the field of view of the horizontal camera (81). The horizontal camera module (8) is installed on the lower half side of the PPU driving module (2), and the movement path of the material taking module (3) passes through the upper area of the camera plate (83).

2. The mechanical hand photographing apparatus according to claim 1, characterized by: The horizontal camera module (8) further comprises a light ring cover (82) and a camera plate (83), the light ring cover (82) is used for providing illumination, the light ring cover (82) is arranged on the front side of the horizontal camera (81), the light ring cover (82) and the horizontal camera (8) are both installed on the rear side of the camera plate (83), and the prism block (831) is installed on the front side of the camera plate (83).

3. The mechanical hand photographing apparatus according to claim 1, characterized by: The camera module further comprises a vertical camera (9), the vertical camera (9) is fixedly installed on a camera mounting column (17) of the mounting frame (1), the lens direction of the vertical camera (9) is arranged vertically downward, and the vertical camera (9) is used for shooting the position of the material in the material loading plate (5).

4. The mechanical hand photographing apparatus according to claim 1, characterized by: The mounting frame (1) is provided with a horizontal guide rail (13), the mechanical hand module is slidably connected with the horizontal guide rail (13) through a sliding module (7), and a first motor (18) is used to drive the movement of the mechanical hand module in the horizontal direction.

5. The mechanical hand photographing apparatus according to claim 1, characterized by: The mechanical hand module further comprises a vertical guide rail (6), the vertical guide rail (6) is connected with the sliding module (7), the PPU driving module (2) is slidably connected with the vertical guide rail (6) through a connecting plate (62), and a second motor (61) and a third motor (63) are used to drive the movement of the PPU driving module (2) in the vertical direction.

6. The mechanical hand photographing apparatus according to claim 5, characterized by: The material taking module (3) is slidably connected with a strip-shaped sliding rail (21) arranged on the PPU driving module (2) through a motor base (34) of the material taking module (3), the material taking module (3) comprises a fourth motor (31), a suction nozzle (32) and a rotary connecting head (33), and the fourth motor (31) drives the rotation of the rotary connecting head (33) and the suction nozzle (32).

7. The mechanical hand photographing apparatus according to claim 1, characterized by: Further comprising a conveying belt module (4), the conveying belt module (4) is used for conveying materials to the material loading plate (5).

8. The mechanical hand photographing apparatus according to claim 1, characterized by: ​ 9. The mechanical hand photographing apparatus according to claim 8, characterized by: The conveying belt module (4) comprises a conveying belt (41) for transporting the material and a discharge port (42) through which the material is delivered to the material loading tray (5).

10. The mechanical hand photographing apparatus according to claim 1, characterized by: The visual controller (15) is arranged in a controller assembly frame (11) of the mounting frame (1), the camera module is in wireless communication connection or electrical connection with the visual controller (15), and the visual controller (15) is used for receiving and processing the image of the intermediate state of the material shot by the horizontal camera (81), and judging the grabbing state or generating a motion correction instruction for the mechanical hand module based on the image.

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