Robot optical cable semi-finished product disc feeding system based on visual guidance

Abstract

The utility model discloses a robot optical cable semi-finished product disc feeding system based on visual guidance, and relates to the field of optical cable disc feeding, the robot optical cable semi-finished product disc feeding system comprises a control cabinet and a robot assembly, the top of the robot assembly is rotatably connected with a rotating base, and the top of the rotating base is movably connected with a first connecting arm; the top of the first connecting arm is movably connected with a second connecting arm, one end of the second connecting arm is movably connected with a hydraulic lifting rod, the outer wall of the second connecting arm is fixedly connected with a camera, and one end of the hydraulic lifting rod is movably connected with a clamp assembly. According to the robot optical cable semi-finished product disc feeding system based on visual guidance, the position of a tight sleeve disc is automatically recognized through machine vision, the feeding position is recognized through machine learning, robot automatic feeding is achieved, the system fully considers man-machine cooperation factors, on-site safety production is ensured, and the production efficiency is improved. And the plane position information of the spool disc can be obtained by using a gray template matching method and the like, so that coarse positioning of the assembly shaft is realized.

Description

Technical Field

[0001] The utility model relates to the field of feeding optical cable reels, in particular to a robot optical cable semi-finished product reel feeding system based on vision guidance. Background Art

[0002] Optical cable is manufactured to meet optical, mechanical or environmental performance specifications. It is a communication cable assembly that uses one or more optical fibers placed in a sheath as a transmission medium and can be used individually or in groups. The optical cable is mainly composed of optical fibers, plastic protective casings and plastic sheaths. There is no gold, silver, copper, aluminum or other metals in the optical cable, which generally has no recycling value. It is composed of a certain number of optical fibers in a certain way to form a cable core, which is covered with a sheath and some are also covered with an outer sheath to realize a communication line for optical signal transmission. Its basic structure is generally composed of several parts such as cable core, reinforcing steel wire, filler and sheath. In addition, there are waterproof layers, buffer layers, insulated metal wires and other components as needed.

[0003] In the prior art, robots with visual guidance have not been used in the field of optical fiber and cable. The design of the manipulator clamp cannot be used according to the shape and weight of the on-site wire reel and the load conditions borne by the robot, which may cause damage when grabbing the wire reel. Secondly, in the design of the wire reel shaft assembly plan, the loading position of the wire reel cannot be positioned with high precision, and the assembly work cannot be performed according to the effective displacement of the target point. The light difference between day and night is not considered, and the human-machine assistance mode is not considered. Therefore, there is little consideration for personnel safety factors, and the robot cannot observe and locate the position of the human.

[0004] Therefore, it is necessary to propose a vision-guided robotic optical cable semi-finished product reel loading system to solve the above problems. Utility Model Content

[0005] The main purpose of the utility model is to provide a robot optical cable semi-finished product reel feeding system based on vision guidance, which can effectively solve the problems in the background technology.

[0006] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0007] A robot optical cable semi-finished product tray loading system based on vision guidance, comprising a control cabinet and a robot assembly, wherein the control cabinet comprises a spatial position input module, a setting unit, a camera data access module, a grayscale template matching unit, a robot control unit and a fixture control unit;

[0008] The top of the robot assembly is rotatably connected to a rotating base, the top of the rotating base is movably connected to a first connecting arm, the top of the first connecting arm is movably connected to a second connecting arm, one end of the second connecting arm is movably connected to a hydraulic lifting rod, the outer wall of the second connecting arm is fixedly connected to a camera, and one end of the hydraulic lifting rod is movably connected to a clamp assembly;

[0009] The spatial position input module is used to input the positions of the loading, unloading and manual work stations of the wire reel, the setting unit is used to set the characteristics of the wire reel, the camera data access module is used to receive the position information of the loading, unloading and manual work stations captured by the camera, the grayscale template matching unit is used to obtain the position information of the wire reel plane, the robot control unit is used to control the robot assembly, and the fixture control unit is used to control the fixture assembly.

[0010] Preferably, the output end of the setting unit is electrically connected to the input end of the wire tray feature input module, and the output ends of the wire tray feature input module and the camera data access module are electrically connected to the input end of the comparison module;

[0011] The comparison module compares the wire reel features from the wire reel feature input module with the wire reel position information captured by the camera.

[0012] Preferably, the grayscale template matching unit includes a feature matching module and an extraction module, the feature matching module includes a spatial one-dimensional sliding template and a spatial two-dimensional sliding template, the extraction module includes an original image, and the output ends of the feature matching module and the extraction module are electrically connected to the input end of the image matching module;

[0013] The spatial one-dimensional sliding template and the spatial two-dimensional sliding template perform image matching based on the spatial one-dimensional and two-dimensional sliding templates, and the extraction module is used to extract the features of the points, lines, and regions of the wire reel in the original image as matching primitives to match the wire reel features.

[0014] Preferably, the output end of the main control unit is electrically connected to the input ends of the robot control unit and the fixture control unit.

[0015] Preferably, a fence is provided on the outside of the robot assembly, a fence door is rotatably connected to the right side of the fence, a loading rack is provided on the front of the control cabinet, and a wire reel is provided on the back of the robot assembly.

[0016] Preferably, a first rotating cylinder is fixedly connected to the top of the rotating base, and the first rotating cylinder is fixedly connected to the first connecting arm through a first rotating shaft. A second rotating cylinder is fixedly connected to the top of the first connecting arm, and the second rotating cylinder is fixedly connected to the second connecting arm through a second rotating shaft.

[0017] Preferably, one end of the second connecting arm is fixedly connected to a third rotating cylinder, and the third rotating cylinder is fixedly connected to the hydraulic lifting rod through a third rotating shaft, and the other end of the hydraulic lifting rod is fixedly connected to a fourth rotating cylinder, and the fourth rotating cylinder is fixedly connected to the clamp assembly through a fourth rotating shaft, and the input ends of the rotating base, the first rotating cylinder, the second rotating cylinder, the third rotating cylinder, the hydraulic lifting rod and the fourth rotating cylinder are electrically connected to the output end of the robot control unit.

[0018] Preferably, one end of the clamp assembly is movably connected to a buffer assembly, and an end of the buffer assembly close to the clamp assembly is fixedly connected to a movable column, a spring is wound around the outer wall of the movable column, one end of the spring is fixedly connected to the buffer assembly, the other end of the spring is fixedly connected to the clamp assembly, the other end of the movable column is fixedly connected to a limiting block, and the limiting block is movably connected to the other side of the clamp assembly.

[0019] Preferably, a linear motor is installed at the clamp assembly, and there are three linear motors. The outer wall of the linear motor is electrically connected to a slider, and the outer wall of the slider is fixedly connected to a clamp, one end of the clamp is fixedly connected to a connecting seat, and the connecting seat is movably connected to the outer wall of the clamp assembly, and the outer wall of the clamp assembly is fixedly connected to a fixing seat, and a guide column is movably connected in the inner cavity of the fixing seat, and the other end of the guide column is fixedly connected to the connecting seat.

[0020] Beneficial Effects

[0021] Compared with the prior art, the utility model provides a robot optical cable semi-finished product tray loading system based on vision guidance, which has the following beneficial effects:

[0022] 1. The vision-guided robotic optical cable semi-finished product reel loading system uses machine vision to automatically identify the position of the tight-sleeved reel, and identifies the loading position through machine learning to realize automatic robot loading. The visual accuracy meets the angle of less than 2° and the position deviation of 5mm. The robot component can stably grasp the reel without damaging the tight-sleeved reel, and cannot damage the tight-sleeved pay-off frame shaft. The clamp component can withstand a gripping force of 500N and can complete a single head loading work within 45S. The system fully considers the human-machine collaboration factor to ensure on-site safe production, and uses grayscale template matching and other methods to obtain the plane position information of the spool to achieve coarse positioning of the assembly axis. According to the prior knowledge constraints between multiple targets, the 1D rotation angle information of the target in the plane is obtained to determine the deflection of the assembly cabinet in the z-axis direction. Combined with the hand-eye calibration transformation matrix, the position information of the reel axis is transformed to the robot arm coordinate system for assembly.

[0023] 2. The vision-guided robot optical cable semi-finished product reel loading system, the robot component can be used in the field of optical fiber and cable, the fixture component is customized according to the shape and weight of the on-site reel, combined with the load conditions of the robot component, to ensure that the reel can be stably grasped without damaging the optical fiber. Secondly, in the design of the reel shaft assembly scheme, the grayscale template matching and other methods are used to obtain the plane position information of the reel, to achieve coarse positioning of the assembly axis, and according to the prior knowledge constraints between multiple targets, the 1D angle information of the target rotation in the plane is obtained to determine the deflection of the assembly cabinet in the z-axis direction, and the hand-eye calibration transformation matrix is ​​combined to transform the position information of the reel axis to the robot arm coordinate system for assembly.

[0024] 3. The vision-guided robotic optical cable semi-finished reel loading system takes into account the human-machine assistance mode and the safety factors of personnel, thereby effectively improving the accuracy and effectiveness of reel grasping. Through the positional relationship between the camera and the robot, the camera calibration and the robot hand-eye calibration are completed, and the positioning algorithm is tested for the reel target accuracy under different lighting conditions, distances and viewing angles. The effectiveness of the underlying visual features of the reel is verified, and the position information of the reel is obtained based on this. The extracted information is sent to the six-axis robotic arm, and the robot control program is designed to realize the grasping of the reel.

[0025] 4. The vision-guided robotic optical cable semi-finished product reel loading system can freely adjust the position of the controlled clamp assembly through the set rotating base, the first rotating cylinder, the second rotating cylinder, the third rotating cylinder, the hydraulic lifting rod, and the fourth rotating cylinder, thereby effectively improving the efficiency of cable reel loading and effectively reducing labor.

[0026] 5. The vision-guided robotic optical cable semi-finished product reel loading system can clamp the reel by starting the linear motor through the three clamping jaws, and the guide column and fixed seat can effectively ensure the smooth movement of the clamping jaws without position deviation. At the same time, the buffer component can play a certain buffering effect when clamping the reel, which can effectively avoid the damage of the reel due to large force. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural schematic diagram of the front side of the utility model;

[0028] Figure 2 It is a structural schematic diagram of the robot assembly of the utility model;

[0029] Figure 3 It is a structural schematic diagram of the clamp assembly of the utility model;

[0030] Figure 4 It is a structural schematic diagram of the clamping jaws of the utility model;

[0031] Figure 5 It is a system block diagram of the main control unit of the utility model.

[0032] In the figure: 1. control cabinet; 2. loading rack; 3. fence door; 4. fence; 5. shelf; 6. wire reel; 7. robot assembly; 8. rotating base; 9. first rotating cylinder; 10. first connecting arm; 11. second rotating cylinder; 12. second connecting arm; 13. third rotating cylinder; 14. hydraulic lifting rod; 15. fourth rotating cylinder; 16. clamp assembly; 17. limit block; 18. movable column; 19. spring; 20. buffer assembly; 21. clamp; 22. linear motor; 23. slider; 24. connecting seat; 25. guide column; 26. fixed seat; 45. camera. DETAILED DESCRIPTION

[0033] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below in conjunction with specific implementation methods.

[0034] like Figure 1 , 2 As shown in , 5, a robot optical cable semi-finished product reel loading system based on vision guidance includes a control cabinet 1 and a robot component 7. The control cabinet 1 includes a spatial position input module, a setting unit, a camera data access module, a grayscale template matching unit, a robot control unit and a fixture control unit. The spatial position input module is used to input the position of the loading, unloading and manual workstations of the reel. The setting unit is used to set the characteristics of the reel. The camera data access module is used to receive the position information of the loading, unloading and manual workstations captured by the camera 45. The grayscale template matching unit is used to obtain the position information of the reel plane. The robot control unit is used to control the robot component 7. The fixture control unit is used to control the fixture component 16. The output end of the setting unit is electrically connected to the input end of the reel feature input module. The reel feature input module and the camera The output end of the data access module is electrically connected to the input end of the comparison module. The comparison module compares the wire drum features of the wire drum feature input module and the wire drum position information captured by the camera 45. The grayscale template matching unit includes a feature matching module and an extraction module. The feature matching module includes a spatial one-dimensional sliding template and a spatial two-dimensional sliding template. The extraction module includes an original image. The output ends of the feature matching module and the extraction module are electrically connected to the input end of the image matching module. The spatial one-dimensional sliding template and the spatial two-dimensional sliding template match images based on spatial one-dimensional and two-dimensional sliding templates. The extraction module is used to extract the features of the points, lines, and areas of the wire drum in the original image as matching primitives to match the wire drum features. The output end of the main control unit is electrically connected to the input ends of the robot control unit and the fixture control unit.

[0035] like Figure 1-4 As shown, a robot optical cable semi-finished product tray loading system based on vision guidance, the top of the robot component 7 is rotatably connected to a rotating base 8, the top of the rotating base 8 is movably connected to a first connecting arm 10, the top of the first connecting arm 10 is movably connected to a second connecting arm 12, one end of the second connecting arm 12 is movably connected to a hydraulic lifting rod 14, the outer wall of the second connecting arm 12 is fixedly connected to a camera 45, one end of the hydraulic lifting rod 14 is movably connected to a clamp component 16, a fence 4 is arranged on the outside of the robot component 7, the right side of the fence 4 is rotatably connected to a fence door 3, and a loading device is arranged on the front of the control cabinet 1. The robot assembly 7 is provided with a wire drum 6 on the back thereof, a first rotary cylinder 9 is fixedly connected to the top of the rotary base 8, the first rotary cylinder 9 is fixedly connected to the first connecting arm 10 through a first rotating shaft, a second rotary cylinder 11 is fixedly connected to the top of the first connecting arm 10, the second rotary cylinder 11 is fixedly connected to the second connecting arm 12 through a second rotating shaft, a third rotary cylinder 13 is fixedly connected to one end of the second connecting arm 12, the third rotary cylinder 13 is fixedly connected to the hydraulic lifting rod 14 through a third rotating shaft, the other end of the hydraulic lifting rod 14 is fixedly connected to the fourth rotary cylinder 15, the fourth rotary cylinder 15 is fixedly connected to the hydraulic lifting rod 14, and the hydraulic lifting rod 14 is fixedly connected to the hydraulic lifting rod 14. The cylinder 15 is fixedly connected to the clamp assembly 16 through the fourth rotating shaft, the rotating base 8, the first rotating cylinder 9, the second rotating cylinder 11, the third rotating cylinder 13, the hydraulic lifting rod 14, and the input end of the fourth rotating cylinder 15 are electrically connected to the output end of the robot control unit, one end of the clamp assembly 16 is movably connected to the buffer assembly 20, and the end of the buffer assembly 20 close to the clamp assembly 16 is fixedly connected to the movable column 18, the outer wall of the movable column 18 is wound with a spring 19, one end of the spring 19 is fixedly connected to the buffer assembly 20, and the other end of the spring 19 is fixedly connected to the clamp assembly 16, and the movable column 18 is fixedly connected to the movable column 18. The other end of 8 is fixedly connected to a limit block 17, and the limit block 17 is movably connected to the other side of the clamp assembly 16. A linear motor 22 is installed at the clamp assembly 16. There are three linear motors 22. The outer wall of the linear motor 22 is electrically connected to a slider 23. The outer wall of the slider 23 is fixedly connected to a clamp 21. One end of the clamp 21 is fixedly connected to a connecting seat 24. The connecting seat 24 is movably connected to the outer wall of the clamp assembly 16. The outer wall of the clamp assembly 16 is fixedly connected to a fixed seat 26. A guide column 25 is movably connected in the inner cavity of the fixed seat 26. The other end of the guide column 25 is fixedly connected to the connecting seat 24.

[0036] The utility model adopts machine vision to automatically identify the position of the tight sleeve reel, and identifies the loading position through machine learning to realize automatic loading of the robot. The visual accuracy satisfies the angle less than 2° and the position deviation is 5mm. The robot component 7 can stably grasp the reel without damaging the tight sleeve reel, and cannot damage the tight sleeve pay-off frame shaft. The clamp component 16 can withstand a gripping force of 500N and can complete a single head loading work within 45S. The system fully considers the human-machine collaboration factor to ensure on-site safe production, and uses grayscale template matching and other methods to obtain the plane position information of the spool disk to achieve coarse positioning of the assembly axis. According to the prior knowledge constraints between multiple targets, the 1D angle information of the target rotation in the plane is obtained to determine the deflection of the assembly cabinet in the z-axis direction. Combined with the hand-eye calibration transformation matrix, the posture information of the reel axis is transformed to the robot arm coordinate system to achieve assembly.

[0037] The robot assembly 7 can be used in the field of optical fiber and cable. The clamp assembly 16 is customized according to the shape and weight of the on-site reel and the load conditions of the robot assembly 7 to ensure that the reel can be stably grasped without damaging the optical fiber. Secondly, in the design of the reel shaft assembly scheme, the plane position information of the reel is obtained by using grayscale template matching and other methods to achieve rough positioning of the assembly axis. According to the prior knowledge constraints between multiple targets, the 1D angle information of the target rotation in the plane is obtained to determine the deflection of the assembly cabinet in the z-axis direction. The position information of the reel axis is transformed into the robot arm coordinate system in combination with the hand-eye calibration transformation matrix to achieve assembly. At the same time, the human-machine assistance mode is taken into account, and the safety factors of the personnel can be taken into account. In this way, the accuracy and effectiveness of the reel grasping can be effectively improved. Through the position relationship between the camera 45 and the robot, the calibration of the camera 45 and the robot hand-eye calibration are completed, the reel target accuracy of the positioning algorithm under different lighting conditions, distances and viewing angles is tested, and the effectiveness of the underlying visual features of the reel is verified. Based on this, the position information of the reel is obtained, and the extracted information is sent to the six-axis robot arm. The robot control program is designed to achieve the grasping of the reel.

[0038] By means of the rotating base 8, the first rotating cylinder 9, the second rotating cylinder 11, the third rotating cylinder 13, the hydraulic lifting rod 14, and the fourth rotating cylinder 15, the position of the controlled clamp assembly 16 can be freely adjusted, thereby effectively improving the efficiency of loading the wire drum and effectively reducing labor. By means of the three clamping jaws 21, the wire drum can be clamped by starting the linear motor 22, and the guide column 25 and the fixed seat 26 can be used to effectively ensure the stability of the movement of the clamping jaws 21 without position deviation. At the same time, by means of the buffer assembly 20, when the material drum is clamped, the spring 19 can play a certain buffering effect, which can effectively avoid the damage of the wire drum due to the large force.

[0039] It should be noted that the utility model is a robot optical cable semi-finished product reel loading system based on vision guidance, when in use.

[0040] The above shows and describes the basic principle and main features of the utility model and the advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments. The above embodiments and descriptions are only for explaining the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection claimed by the utility model is defined by the attached claims and their equivalents.

Claims

1. A vision-guided robotic cable semi-finished product tray loading system, comprising a control cabinet (1) and a robotic assembly (7), characterized in that: The control cabinet (1) comprises a main control unit (27), and the main control unit (27) comprises a spatial position input module, a setting unit, a camera data access module, a grayscale template matching unit, a robot control unit and a fixture control unit; The top of the robot assembly (7) is rotatably connected to a rotating base (8), the top of the rotating base (8) is movably connected to a first connecting arm (10), the top of the first connecting arm (10) is movably connected to a second connecting arm (12), one end of the second connecting arm (12) is movably connected to a hydraulic lifting rod (14), the outer wall of the second connecting arm (12) is fixedly connected to a camera (45), and one end of the hydraulic lifting rod (14) is movably connected to a clamp assembly (16); The spatial position input module is used to input the positions of the loading, unloading and manual workstations of the wire reel, the setting unit is used to set the characteristics of the wire reel, the camera data access module is used to receive the position information of the loading, unloading and manual workstations captured by the camera (45), the grayscale template matching unit is used to obtain the position information of the wire reel plane, the robot control unit is used to control the robot component (7), and the fixture control unit is used to control the fixture component (16).

2. The vision-guided robotic optical cable semi-finished product tray loading system according to claim 1 is characterized in that: The output end of the setting unit is electrically connected to the input end of the wire tray feature input module, and the output ends of the wire tray feature input module and the camera data access module are electrically connected to the input end of the comparison module; The comparison module compares the wire reel features from the wire reel feature input module with the wire reel position information captured by the camera (45).

3. The vision-guided robotic optical cable semi-finished product tray loading system according to claim 1 is characterized in that: The grayscale template matching unit includes a feature matching module and an extraction module, the feature matching module includes a spatial one-dimensional sliding template and a spatial two-dimensional sliding template, the extraction module includes an original image, and the output ends of the feature matching module and the extraction module are electrically connected to the input end of the image matching module; The spatial one-dimensional sliding template and the spatial two-dimensional sliding template perform image matching based on the spatial one-dimensional and two-dimensional sliding templates, and the extraction module is used to extract the features of the points, lines, and regions of the wire reel in the original image as matching primitives to match the wire reel features.

4. The vision-guided robotic optical cable semi-finished product tray loading system according to claim 1 is characterized in that: The output end of the main control unit is electrically connected to the input ends of the robot control unit and the fixture control unit.

5. The vision-guided robotic optical cable semi-finished product tray loading system according to claim 1 is characterized in that: A fence (4) is arranged on the outside of the robot assembly (7), and a fence door (3) is rotatably connected to the right side of the fence (4). A loading rack (2) is arranged on the front of the control cabinet (1), and a wire drum (6) is arranged on the back of the robot assembly (7).

6. The vision-guided robotic optical cable semi-finished product tray loading system according to claim 1 is characterized in that: A first rotating cylinder (9) is fixedly connected to the top of the rotating base (8), and the first rotating cylinder (9) is fixedly connected to a first connecting arm (10) via a first rotating shaft. A second rotating cylinder (11) is fixedly connected to the top of the first connecting arm (10), and the second rotating cylinder (11) is fixedly connected to a second connecting arm (12) via a second rotating shaft.

7. The vision-guided robotic optical cable semi-finished product tray loading system according to claim 1 is characterized in that: One end of the second connecting arm (12) is fixedly connected to a third rotating cylinder (13), and the third rotating cylinder (13) is fixedly connected to a hydraulic lifting rod (14) via a third rotating shaft. The other end of the hydraulic lifting rod (14) is fixedly connected to a fourth rotating cylinder (15), and the fourth rotating cylinder (15) is fixedly connected to a clamp assembly (16) via a fourth rotating shaft. The input ends of the rotating base (8), the first rotating cylinder (9), the second rotating cylinder (11), the third rotating cylinder (13), the hydraulic lifting rod (14), and the fourth rotating cylinder (15) are electrically connected to the output end of the robot control unit.

8. The vision-guided robotic optical cable semi-finished product tray loading system according to claim 1 is characterized in that: One end of the clamp assembly (16) is movably connected to a buffer assembly (20), and one end of the buffer assembly (20) close to the clamp assembly (16) is fixedly connected to a movable column (18), and a spring (19) is wound around the outer wall of the movable column (18), and one end of the spring (19) is fixedly connected to the buffer assembly (20), and the other end of the spring (19) is fixedly connected to the clamp assembly (16), and the other end of the movable column (18) is fixedly connected to a limit block (17), and the limit block (17) is movably connected to the other side of the clamp assembly (16).

9. The vision-guided robotic optical cable semi-finished product tray loading system according to claim 1 is characterized in that: A linear motor (22) is installed at the clamp assembly (16), and there are three linear motors (22). The outer wall of the linear motor (22) is electrically connected to a slider (23), and the outer wall of the slider (23) is fixedly connected to a clamp (21), and one end of the clamp (21) is fixedly connected to a connecting seat (24), and the connecting seat (24) is movably connected to the outer wall of the clamp assembly (16), and the outer wall of the clamp assembly (16) is fixedly connected to a fixed seat (26), and a guide column (25) is movably connected in the inner cavity of the fixed seat (26), and the other end of the guide column (25) is fixedly connected to the connecting seat (24).

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