An ai robot vision packaging device

Abstract

The application relates to an AI robot visual packaging device, which comprises a feeding conveying mechanism, a detection mechanism and a packaging mechanism arranged in sequence on a production line from right to left, and relates to the technical field of hardware detection and packaging. The AI robot visual packaging device is provided with a positioning and adsorbing assembly which is designed in combination with a rotary air cylinder, a horizontal air cylinder and an electromagnetic side clamping rod, can automatically adjust the angle, radial position and top pressing height of a plurality of clamping points according to workpiece shape information collected by an upper detection camera, and forms a flexible clamping space which is highly consistent with the profile of the workpiece. A guide arc surface guides the workpiece to automatically center during grabbing, and electromagnetic adsorption provides reliable holding force. The adaptive grabbing mode driven by the AI effectively solves the problem of lossless grabbing of special-shaped workpieces, and greatly improves the universality and flexibility of the equipment.

Description

Technical Field

[0001] This invention relates to the field of hardware component inspection and packaging technology, specifically to an AI robot vision packaging device. Background Technology

[0002] In modern intelligent manufacturing production lines, visual inspection and automatic sorting before product packaging are crucial for ensuring product quality. Traditional packaging lines often rely on manual visual inspection or simple photoelectric detection, resulting in low efficiency, high false detection rates, and high labor intensity. In recent years, machine vision-based inspection systems have become increasingly widespread, but several technical bottlenecks remain in their integration with robotic gripping, sorting, and packaging processes. First, workpieces (such as electronic products, daily necessities, and mechanical parts) have diverse shapes and irregular surfaces, making it difficult for traditional rigid mechanical grippers to achieve stable and damage-free gripping. Second, single-station inspection often only covers one surface; if the bottom surface needs to be inspected, an additional flipping mechanism or manual assistance is required, leading to equipment complexity and reduced efficiency. Third, the position and angle of workpieces during feeding and conveying exhibit random deviations, and ordinary robots cannot adaptively adjust their gripping posture, easily leading to gripping failures or inaccurate positioning, affecting the accuracy of subsequent inspection and packaging. Therefore, there is an urgent need in this field for an intelligent packaging equipment that integrates visual inspection, adaptive flexible gripping, multi-angle inspection, and automatic sorting functions. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides an AI robot vision packaging device that solves the aforementioned problems.

[0004] To achieve the above objectives, the present invention is implemented through the following technical solution: an AI robot vision packaging equipment, comprising a feeding conveying mechanism, a detection mechanism and a packaging mechanism arranged sequentially from right to left on the production line, wherein the detection mechanism includes a frame and a transverse motion track fixed on the frame, an upper detection camera, a lower detection camera, a defective product output platform and a good product output platform connected to the feeding port of the packaging mechanism; A robotic arm is slidably connected to the surface of the transverse motion track. A lifting arm driven by an up-down driving mechanism is slidably connected to the inner cavity of the robotic arm. A connecting rod driven by a rotating mechanism is rotatably connected to the bottom of the lifting arm. A connecting plate is fixedly connected to the bottom end of the connecting rod. Multiple sets of positioning and adsorption components are provided on the surface of the connecting plate. The positioning and adsorption assembly includes a rotating plate driven by a rotary cylinder to rotate at the bottom of a connecting plate. A horizontal cylinder is fixedly connected to the bottom of the rotating plate, and a side clamping rod is fixedly connected to the piston end of the horizontal cylinder and slidably disposed below the rotating plate. The side clamping rod has a guide arc surface on one side facing the center of the connecting plate, and a limiting mechanism for limiting the top of the workpiece is provided on one side of the side clamping rod. The side clamping rod is an electromagnet. In use, the positioning and adsorption assembly is first adjusted according to the shape of the workpiece, adjusting the positions of multiple side clamping rods to adapt to the uneven surface of the workpiece. The workpiece is then transported by a feeding conveyor mechanism, and the top is detected by an upper detection camera. Finally, the positioning and adsorption assembly is driven to move according to the shape of the workpiece, using a rotary cylinder... The cylinder drives the rotating plate to rotate and adjust the angle. Then, the horizontal cylinder drives the side clamping rod to move and adjust the length to fit the size of the workpiece. The lifting cylinder drives the upper pressure rod to move up and down in the lifting groove to adjust the top size. After adjustment, the robot arm moves above the workpiece, and then the lifting arm descends and is guided by the guide arc surface to clamp the workpiece in the middle. Then, the electromagnet of the side clamping rod is energized to attract the workpiece. Then, it is raised and moved to the lower inspection camera to inspect the bottom. Defective products are output through the defective product output station, and good products are transported to the good product output station for the next step of processing. When clamping the next workpiece, even if the initial position is inaccurate, the rotating mechanism rotates and drives the connecting rod to rotate, adjusting the angle to clamp the next workpiece.

[0005] As a further aspect of the present invention: the limiting mechanism includes a lifting cylinder fixed to the side of the side clamping rod, the bottom end of the piston rod of the lifting cylinder is fixedly connected to an upper pressure rod, one side of the upper pressure rod passes through the side clamping rod and extends to the other side of the side clamping rod, and the inner cavity of the side clamping rod is provided with a lifting groove adapted to the upper pressure rod.

[0006] As a further aspect of the present invention: the rotating mechanism includes a passive gear rotatably disposed below the lifting arm, the top end of the connecting rod being fixedly connected to the bottom of the passive gear, and the rotating mechanism also includes an active gear driven by a motor to rotate below the lifting arm, the active gear meshing with the passive gear.

[0007] As a further aspect of the present invention: the positioning adsorption component is provided in four or more groups, and multiple rotating cylinders are arranged in a circular array at the bottom center point of the connecting plate.

[0008] As a further aspect of the present invention: the connecting plate is a circular plate, and its center point coincides with the bottom of the connecting rod.

[0009] As a further embodiment of the present invention: the upper detection camera, the lower detection camera, the defective product output station, and the good product output station are arranged sequentially from right to left.

[0010] As a further aspect of the present invention: guide plates are provided on both sides of the feeding conveyor for guiding the workpiece left and right, positioning its Y-axis and Z-axis positions, so as to facilitate the gripping of the robot arm.

[0011] Compared with the prior art, the present invention has the following advantages: This system achieves AI-driven adaptive flexible gripping: An innovative positioning and adsorption component design, combining a rotary cylinder, a horizontal cylinder, and an electromagnet-type side clamping rod, automatically adjusts the angle, radial position, and top clamping height of multiple gripping points based on workpiece shape information captured by the upper detection camera, forming a flexible gripping space that closely matches the workpiece contour. A guide arc surface guides the workpiece to automatic centering during gripping, while electromagnetic adsorption provides reliable holding force. This AI-driven adaptive gripping method effectively solves the problem of non-destructive gripping of irregularly shaped workpieces, greatly improving the equipment's versatility and flexibility.

[0012] This system achieves an integrated process of simultaneous double-sided inspection and automated sorting: by integrating upper and lower inspection cameras into the inspection mechanism, and with the flexible movement of the robotic arm, comprehensive visual inspection of the top and bottom of the workpiece can be completed in a single gripping and transfer process. The inspection results are input into the control system in real time, driving the robotic arm to transport qualified and unqualified products to the good product output station and the defective product output station respectively, achieving a seamless connection between "inspection-sorting-packaging", greatly shortening the production cycle and reducing manual intervention.

[0013] It features intelligent angle compensation for gripping posture: Through a rotating mechanism that meshes with a passive gear, the connecting rod and the entire connecting plate rotate. After gripping, precise circumferential angle adjustments are made based on the workpiece's angular deviation during feeding, ensuring the workpiece enters the next inspection and packaging station in a standard posture. This function effectively compensates for positioning errors in the preceding conveying process, guaranteeing the smooth operation of subsequent processes.

[0014] It achieves fully automated, high-precision visual inspection and positioning: the guide plates on both sides of the feeding conveyor perform preliminary Y-axis and Z-axis positioning of the workpiece, creating consistent initial conditions for the robotic arm to grasp it. The high-precision image acquisition and analysis of the upper and lower inspection cameras are not only used for quality judgment, but also provide precise shape data for the adjustment of the positioning adsorption components, forming a closed-loop intelligent control of "perception-decision-execution". Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the detection mechanism of the present invention; Figure 3 This is a schematic diagram of the structure of the robotic arm of the present invention; Figure 4For the present invention Figure 3 A magnified view of a portion of point A in the middle.

[0016] In the diagram: 1. Feeding and conveying mechanism; 2. Detection mechanism; 21. Frame; 22. Lateral motion track; 23. Robot arm; 24. Lifting arm; 25. Connecting rod; 26. Passive gear; 27. Driving gear; 29. ​​Rotating plate; 210. Connecting plate; 211. Horizontal cylinder; 212. Side clamping rod; 213. Lifting cylinder; 214. Lifting groove; 215. Upper pressure rod; 216. Guide arc surface; 217. Upper detection camera; 218. Defective product output platform; 219. Lower detection camera; 220. Good product output platform; 221. Rotary cylinder; 3. Packaging mechanism. Detailed Implementation

[0017] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided below.

[0018] Please see Figure 1-4 The present invention provides a technical solution: an AI robot vision packaging equipment, including a feeding and conveying mechanism 1, a detection mechanism 2 and a packaging mechanism 3 arranged sequentially from right to left on the production line. The detection mechanism 2 includes a frame 21 and a transverse motion track 22 fixed on the frame 21, an upper detection camera 217, a lower detection camera 219, a defective product output platform 218 and a good product output platform 220 connected to the feed port of the packaging mechanism 3. A robotic arm 23 is slidably connected to the surface of the transverse motion track 22. A lifting arm 24 driven by an up-down driving mechanism is slidably connected to the inner cavity of the robotic arm 23. A connecting rod 25 driven by a rotating mechanism is rotatably connected to the bottom of the lifting arm 24. A connecting plate 210 is fixedly connected to the bottom end of the connecting rod 25. Multiple sets of positioning adsorption components are provided on the surface of the connecting plate 210. The positioning and adsorption assembly includes a rotating plate 29 driven by a rotary cylinder 221 to rotate at the bottom of a connecting plate 210. A horizontal cylinder 211 is fixedly connected to the bottom of the rotating plate 29. A side clamping rod 212, which slides below the rotating plate 29, is fixedly connected to the piston end of the horizontal cylinder 211. The side clamping rod 212 has a guide arc surface 216 on one side facing the center of the connecting plate 210. A limiting mechanism for limiting the top of the workpiece is provided on one side of the side clamping rod 212. The side clamping rod 212 is an electromagnet. In use, the positioning and adsorption assembly is first adjusted according to the shape of the workpiece, and the positions of multiple side clamping rods 212 are adjusted to adapt to the uneven surface of the workpiece. The workpiece is then transported by a feeding conveyor 1, and the top is detected by an upper detection camera 217. Then, the positioning and adsorption assembly is driven to move according to the shape, via the rotary cylinder 221. The rotating plate 29 is driven to rotate and the angle is adjusted. Then, the horizontal cylinder 211 drives the side clamping rod 212 to move and adjust the length to match the size of the workpiece. The lifting cylinder 213 drives the upper pressure rod 215 to move up and down in the lifting groove 214 to adjust the top size. After adjustment, the robot arm 23 moves to the top of the workpiece, and then the lifting arm 24 descends and is guided by the guide arc surface 216 to clamp the workpiece in the middle. Then, the electromagnet of the side clamping rod 212 is energized to attract the workpiece. Then, it is raised and moved to the lower detection camera 219 to detect the workpiece below. Defective products are output through the defective product output table 218, and good products are transported to the good product output table 220 for the next step of processing. When clamping the next workpiece, even if the initial position is inaccurate, the rotating mechanism rotates and drives the connecting rod 25 to rotate, adjusting the angle to clamp the next workpiece.

[0019] The limiting mechanism includes a lifting cylinder 213 fixed to the side of the side clamping rod 212. The bottom end of the piston rod of the lifting cylinder 213 is fixedly connected to an upper pressure rod 215. One side of the upper pressure rod 215 passes through the side clamping rod 212 and extends to the other side of the side clamping rod 212. The inner cavity of the side clamping rod 212 is provided with a lifting groove 214 that is adapted to the upper pressure rod 215.

[0020] The rotating mechanism includes a driven gear 26 rotatably disposed below the lifting arm 24, the top end of the connecting rod 25 being fixedly connected to the bottom of the driven gear 26, and the rotating mechanism also includes an active gear 27 driven by a motor to rotate below the lifting arm 24, the active gear 27 meshing with the driven gear 26.

[0021] The positioning adsorption assembly is provided in four or more groups, and multiple rotary cylinders 221 are arranged in a circular array at the bottom center point of the connecting plate 210.

[0022] The connecting plate 210 is a circular plate, and its center point coincides with the bottom of the connecting rod 25.

[0023] The upper inspection camera 217, the lower inspection camera 219, the defective product output station 218, and the good product output station 220 are arranged from right to left.

[0024] The feeding conveyor mechanism 1 has guide plates on both sides for guiding the workpiece left and right, positioning it on the Y-axis and Z-axis, so that the robot arm 23 can grasp it.

[0025] In use, the first stage of this invention is feeding and initial positioning. Workpieces awaiting packaging or inspection are conveyed from right to left via the feeding conveyor 1. The guide plates on both sides of the conveyor provide initial constraints on the workpieces along the Y-axis (left-right direction) and Z-axis (height direction), ensuring that the positional deviation of the workpieces is controlled within a certain range when they reach the gripping station, thus creating conditions for subsequent precise gripping.

[0026] Phase Two: Presetting Visual Recognition and Grasping Parameters When the workpiece passes under the upper detection camera 217, the upper detection camera takes a picture of the top of the workpiece to obtain the shape, outline, size and angle information of the workpiece.

[0027] The AI ​​image processing system analyzes the image, identifies the workpiece type, and calculates the optimal gripping point and clamping posture.

[0028] Based on the recognition results, the control system sends adjustment commands to each positioning and adsorption component: Each rotary cylinder 221 drives the corresponding rotating plate 29 to rotate to an angle that matches the contour of the workpiece.

[0029] Each horizontal cylinder 211 drives the side clamping rod 212 to extend and retract to a predetermined radial position.

[0030] Each lifting cylinder 213 drives the upper pressure rod 215 to rise and fall within the lifting groove 214 to the predetermined top pressing height.

[0031] At this point, the spatial shape formed by the four or more side clamps basically matches the lower outline of the workpiece to be gripped.

[0032] Phase 3: Adaptive Crawling and Improvement The robot arm 23 moves to the left along the transverse motion track 22 until it is directly above the workpiece.

[0033] The up-and-down drive mechanism drives the lifting arm 24 to descend, bringing the entire gripping head connecting plate and positioning adsorption assembly closer to the workpiece.

[0034] During the descent, the guide arc surface 216 on each side clamping rod 212 contacts the side wall of the workpiece, and the workpiece is gently pushed towards the center by the guiding effect of the arc surface, thus achieving self-centering.

[0035] When all the side clamping rods are in place, the side clamping rod 212 is energized as an electromagnet, generating a strong magnetic suction force to firmly adsorb the surface of the workpiece.

[0036] Meanwhile, the upper pressing rod 215 is pressed down under the action of the lifting cylinder 213 to apply an auxiliary pressing force to the workpiece from the top, forming a stable three-point or multi-point fixation.

[0037] The lifting arm 24 is lifted to smoothly grasp the workpiece.

[0038] Fourth stage: Double-sided inspection and angle adjustment The manipulator 23 continues to move left along the horizontal movement track 22, moving the workpiece above the lower inspection camera 219.

[0039] The lower inspection camera takes pictures and performs image analysis on the bottom of the workpiece to detect possible defects.

[0040] If, for example, the angle of the workpiece is deviated during feeding or there are specific direction requirements for subsequent packaging, the rotation mechanism motor drives the driving gear 27, causing the driven gear 26 to start, and drives the entire connecting plate 210 and the workpiece to rotate to the target angle through the connecting rod 25.

[0041] Fifth stage: Automatic sorting and output The control system comprehensively judges the qualification of the workpiece based on the detection results of the upper inspection camera 217 and the lower inspection camera 219.

[0042] Good products: If it is judged to be qualified, the manipulator continues to move left and smoothly places the workpiece on the good product output table 220 connected to the feeding port of the packaging mechanism 3. The positioning adsorption component is powered off and reset to release the workpiece, and the workpiece is sent to the packaging process for packaging by the good product output table.

[0043] Defective products: If it is judged to be unqualified, the manipulator moves the workpiece above the defective product output table 218, also releases the adsorption, places the defective product on the output table, and it is removed by manual or automated system.

[0044] Sixth stage: Reset and cycle After completing one sorting, the manipulator and each positioning adsorption component are reset to the initial state, and move back to above the feeding conveyor mechanism to the right, ready to grasp the next workpiece and start a new working cycle.

[0045] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. An AI robot vision packaging device, comprising a feeding conveying mechanism (1), a detection mechanism (2), and a packaging mechanism (3) arranged sequentially from right to left on a production line, characterized in that: The testing mechanism (2) includes a frame (21) and a transverse motion track (22) fixed on the frame (21), an upper testing camera (217), a lower testing camera (219), a defective product output platform (218), and a good product output platform (220) connected to the feed inlet of the packaging mechanism (3). A robotic arm (23) is slidably connected to the surface of the transverse motion track (22). A lifting arm (24) driven by an up-down driving mechanism is slidably connected to the inner cavity of the robotic arm (23). A connecting rod (25) driven by a rotating mechanism is rotatably connected to the bottom of the lifting arm (24). A connecting plate (210) is fixedly connected to the bottom end of the connecting rod (25). Multiple sets of positioning adsorption components are provided on the surface of the connecting plate (210). The positioning and adsorption assembly includes a rotating plate (29) driven by a rotary cylinder (221) to rotate at the bottom of the connecting plate (210). A horizontal cylinder (211) is fixedly connected to the bottom of the rotating plate (29). A side clamping rod (212) is fixedly connected to the piston end of the horizontal cylinder (211) and is slidably arranged below the rotating plate (29). A guide arc surface (216) is provided on one side of the side clamping rod (212) facing the center of the connecting plate (210). A limiting mechanism for limiting the top of the workpiece is provided on one side of the side clamping rod (212). The side clamping rod (212) is an electromagnet.

2. The AI ​​robot vision packaging equipment according to claim 1, characterized in that: The limiting mechanism includes a lifting cylinder (213) fixed to the side of the side clamping rod (212). The bottom end of the piston rod of the lifting cylinder (213) is fixedly connected to an upper pressure rod (215). One side of the upper pressure rod (215) passes through the side clamping rod (212) and extends to the other side of the side clamping rod (212). The inner cavity of the side clamping rod (212) is provided with a lifting groove (214) that is adapted to the upper pressure rod (215).

3. The AI ​​robot vision packaging equipment according to claim 1, characterized in that: The rotating mechanism includes a passive gear (26) that is rotatably disposed below the lifting arm (24), the top end of the connecting rod (25) being fixedly connected to the bottom of the passive gear (26), and the rotating mechanism also includes an active gear (27) that is driven by a motor to rotate below the lifting arm (24), the active gear (27) meshing with the passive gear (26).

4. The AI ​​robot vision packaging equipment according to claim 1, characterized in that: The positioning adsorption assembly is provided with four or more sets, and multiple rotary cylinders (221) are arranged in a ring array at the bottom center point of the connecting plate (210).

5. The AI ​​robot vision packaging equipment according to claim 1, characterized in that: The connecting plate (210) is a circular plate, and its center point coincides with the bottom of the connecting rod (25).

6. The AI ​​robot vision packaging equipment according to claim 1, characterized in that: The upper detection camera (217), lower detection camera (219), defective product output station (218), and good product output station (220) are arranged sequentially from right to left.

7. The AI ​​robot vision packaging equipment according to claim 1, characterized in that: The feeding conveyor (1) is provided with guide plates on both sides for guiding the workpiece left and right, positioning its Y-axis and Z-axis positions, so that the robot (23) can grasp it.

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