Material carrying robot based on vision

Abstract

The utility model discloses a material carrying robot based on vision, which belongs to the technical field of automatic machinery and comprises a support provided with a driving mechanism. The vacuum chucks are arranged at the output end of the driving mechanism, the driving mechanism drives the vacuum chucks to move in the X-axis direction, the Y-axis direction and the Z-axis direction, a vacuum pump is fixedly connected to the support, and the vacuum pump communicates with the vacuum chucks; the camera is fixedly connected to a fixing frame of the conveying belt, the camera is located over the conveying belt, and the camera and the vacuum suction cup are sequentially arranged in the conveying direction of the conveying belt; the photoelectric sensor is fixedly connected to a fixing frame of the conveying belt, located over the conveying belt and located within the moving range of the vacuum suction cup on the horizontal plane. The camera and the photoelectric sensor can position materials and do not move along with the movement of the driving mechanism, so that the shaking condition is reduced, and the positioning effect on the materials is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of automated machinery, in particular to a material handling robot based on vision. Background Art

[0002] In industrial production, material handling is usually involved, that is, moving materials on the production line to a specific location, or moving them to a specific workpiece, so as to facilitate the alignment and assembly of materials and workpieces. With the development of automation technology and information technology, visual handling robots are increasingly used in modern production lines to replace manual operations and realize automated production. In general, visual handling robots usually install the camera and the end effector together so that the camera and the end effector move synchronously to accurately grasp the material. However, the end effector will cause the camera to vibrate or shake during movement, which makes the image stability poor and reduces the accuracy of material positioning.

[0003] Therefore, a vision-based material handling robot is proposed. Utility Model Content

[0004] The purpose of the utility model is to provide a material handling robot based on vision, aiming to solve or improve at least one of the above technical problems.

[0005] To achieve the above object, the utility model provides the following solution: The utility model provides a vision-based material handling robot for handling materials on a conveyor belt, comprising:

[0006] A bracket, wherein a driving mechanism is provided on the bracket;

[0007] A plurality of vacuum suction cups are arranged at the output end of the driving mechanism, the driving mechanism drives the plurality of vacuum suction cups to move along the X-axis, Y-axis and Z-axis directions, a vacuum pump is fixedly connected to the bracket, and the vacuum pump is connected to the plurality of vacuum suction cups;

[0008] A camera is fixedly connected to a fixing frame of the conveyor belt, the camera is located directly above the conveyor belt, and the camera and the vacuum suction cup are sequentially arranged along the conveying direction of the conveyor belt;

[0009] The photoelectric sensor is fixedly connected to the fixing frame of the conveyor belt. The photoelectric sensor is located directly above the conveyor belt and is within the movable range of the vacuum suction cup on the horizontal plane.

[0010] Preferably, the bracket includes two U-shaped frames arranged in parallel, the openings of the U-shaped frames face downward, the two U-shaped frames straddle the conveyor belt, two first slide rails are fixedly connected between the two U-shaped frames, the two first slide rails are respectively located on both sides of the conveyor belt, and the driving mechanism is arranged on the two first slide rails.

[0011] Preferably, the driving mechanism includes a first lead screw assembly, a second lead screw assembly and a third lead screw assembly. The first lead screw assembly is fixedly connected to the U-shaped frame. A first four-wheel V-groove gantry plate is rollingly connected to the first slide rail. The lead screw nut of the first lead screw assembly is fixedly connected to the support plate on any one of the first four-wheel V-groove gantry plates. A second slide rail and the second lead screw assembly are fixedly connected between the support plates of the two first four-wheel V-groove gantry plates. The output end of the second lead screw assembly is provided with the third lead screw assembly. The output end of the third lead screw assembly is provided with a plurality of vacuum suction cups. The first lead screw assembly, the second lead screw assembly and the third lead screw assembly move along the Y-axis, X-axis and Z-axis directions respectively.

[0012] Preferably, a second four-wheel V-groove gantry plate is rollingly connected to the second slide rail. The lead screw nut of the second lead screw assembly is fixedly connected to the support plate on the second four-wheel V-groove gantry plate. A third slide rail and the third lead screw assembly are fixedly connected to the support plate of the second four-wheel V-groove gantry plate. A third four-wheel V-groove gantry plate is rollingly connected to the third slide rail. The lead screw nut of the third lead screw assembly is fixedly connected to the support plate on the third four-wheel V-groove gantry plate. A plurality of vacuum suction cups are arranged on the support plate of the third four-wheel V-groove gantry plate.

[0013] Preferably, a steering gear is fixedly connected to the support plate of the third four-wheel V-groove gantry plate. A connecting plate is fixedly connected to the output shaft of the steering gear. The connecting plate is fixedly connected to a plurality of vacuum suction cups.

[0014] Preferably, a plurality of vacuum suction cups are fixedly connected and communicated with each other through a first hose. The output end of the vacuum pump is fixedly connected and communicated with a second hose. One end of the second hose away from the vacuum pump is fixedly connected and communicated with any one of the vacuum suction cups. An electromagnetic valve is fixedly connected to the second hose.

[0015] The utility model discloses the following technical effects: materials are placed on a conveyor belt and transported, first transported to the bottom of a camera, which takes a picture of the materials to obtain the location information of the materials, and then the materials are transported to the bottom of a photoelectric sensor. After the photoelectric sensor senses the materials, the conveyor belt stops transporting, and the location information of the materials can be determined by the camera and the photoelectric sensor, so that the driving mechanism can drive the vacuum suction cup to move to the top of the materials and descend close to the materials, and the vacuum suction cup is evacuated by a vacuum pump, and the materials are picked up by suction to realize the transportation of materials. The present application realizes the positioning of materials by means of cameras and photoelectric sensors, and the cameras and photoelectric sensors are arranged on a fixed frame of the conveyor belt and do not move with the movement of the driving mechanism, thereby reducing jitter and improving the positioning effect of materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0017] Figure 1 It is an axonometric drawing of the utility model;

[0018] Figure 2 It is a structural schematic diagram of the first screw assembly and the second screw assembly in the utility model;

[0019] Figure 3 It is a structural schematic diagram of the third screw assembly in the utility model.

[0020] In the figure: 1. second hose; 2. vacuum suction cup; 3. vacuum pump; 4. conveyor belt; 5. bracket; 6. first slide rail; 7. first screw assembly; 8. second screw assembly; 9. third screw assembly; 10. first four-wheel V-groove gantry plate; 11. second slide rail; 12. second four-wheel V-groove gantry plate; 13. third slide rail; 14. third four-wheel V-groove gantry plate; 15. servo; 16. connecting plate; 17. first hose. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0022] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0023] Reference Figure 1-Figure 3 The utility model provides a vision-based material handling robot for handling materials on a conveyor belt 4, comprising:

[0024] A bracket, wherein a driving mechanism is arranged on the bracket;

[0025] A plurality of vacuum suction cups 2 are arranged at the output end of the driving mechanism, and the driving mechanism drives the plurality of vacuum suction cups 2 to move along the X-axis, Y-axis and Z-axis directions. A vacuum pump 3 is fixedly connected to the bracket, and the vacuum pump 3 is connected to the plurality of vacuum suction cups 2;

[0026] A camera (not shown in the figure) is fixed to a fixing frame of the conveyor belt 4. The camera is located directly above the conveyor belt 4. The camera and the vacuum suction cup 2 are sequentially arranged along the conveying direction of the conveyor belt 4.

[0027] The photoelectric sensor (not shown in the figure) is fixedly connected to the fixed frame of the conveyor belt 4. The photoelectric sensor is located directly above the conveyor belt 4. The photoelectric sensor is located within the range of movement of the vacuum suction cup 2 on the horizontal plane. The photoelectric sensor is located above the vacuum suction cup 2 and does not hinder the movement of the vacuum suction cup 2.

[0028] The present application is more suitable for transporting small materials with rectangular cross-sections. The present application is provided with a control system and visual software. The visual software in the present embodiment is the Vision Plus platform software based on Vision Pro, which can realize the position and posture recognition of the target material by performing algorithms such as preprocessing and template matching on the collected images; the vacuum pump 3 selects a vacuum pump of model JS370I01 and 5V DC power supply; the camera selects an industrial camera of model MV-EM120M, which has a high degree of adaptability to the visual software; the photoelectric sensor adopts an infrared sensor of model E18-D80NK, which is used for non-contact ranging and obstacle detection, and can detect whether there is a target and the distance between the target and the probe, and has the advantages of long detection distance, high sensitivity, fast response speed, simple structure, etc.

[0029] When in use, the camera photographs the material on the conveyor belt and transmits the image to the visual software. The visual software identifies the position information of the material relative to the edge of the conveyor belt 4 and the inclination angle of the material and transmits the information to the control system. The material continues to be conveyed along the conveyor belt 4. When the material is conveyed under the photoelectric sensor, it is detected by the photoelectric sensor and the detection information is transmitted to the control system. The control system controls the conveyor belt 4 to stop conveying. The position and posture of the material can be determined by the information identified by the visual software and the information of the photoelectric sensor; the control system controls the movement of the driving mechanism, so that multiple vacuum suction cups 2 move to the top of the material. After getting close to the material, the vacuum pump 3 is started to provide negative pressure to the vacuum suction cup 2, so that the vacuum suction cup 2 can pick up the material.

[0030] For a further optimized solution, the bracket includes two C-shaped frames 5 arranged in parallel. The openings of the C-shaped frames 5 face downward. The two C-shaped frames 5 straddle the conveyor belt 4. Two first slide rails 6 are fixedly connected between the two C-shaped frames 5. The two first slide rails 6 are respectively located on both sides of the conveyor belt 4. A driving mechanism is arranged on the two first slide rails 6;

[0031] A cubic support frame is formed by the two C-shaped frames 5 and the two first slide rails 6, which improves the overall rigidity and increases the stability and reliability of the support. The C-shaped frames 5 are made of aluminum profiles.

[0032] For a further optimized solution, the driving mechanism includes a first lead screw assembly 7, a second lead screw assembly 8 and a third lead screw assembly 9. The first lead screw assembly 7 is fixedly connected to the C-shaped frame 5. A first four-wheel V-groove gantry plate 10 is connected to the first slide rail 6 in a rolling manner. The lead screw nut of the first lead screw assembly 7 is fixedly connected to the support plate on any one of the first four-wheel V-groove gantry plates 10. A second slide rail 11 and a second lead screw assembly 8 are fixedly connected between the support plates of the two first four-wheel V-groove gantry plates 10. The output end of the second lead screw assembly 8 is provided with a third lead screw assembly 9. The output end of the third lead screw assembly 9 is provided with a plurality of vacuum suction cups 2. The first lead screw assembly 7, the second lead screw assembly 8 and the third lead screw assembly 9 move along the Y-axis, X-axis and Z-axis directions respectively;

[0033] The first lead screw assembly 7, the second lead screw assembly 8 and the third lead screw assembly 9 have the same structure, and each includes a stepping motor. A lead screw is fixedly connected to the output shaft of the stepping motor. A lead screw nut is sleeved on the lead screw in a threaded manner. The lead screw nuts on each lead screw assembly are fixedly connected to the four-wheel V-groove gantry plate, so that the running stability of the first lead screw assembly 7, the second lead screw assembly 8 and the third lead screw assembly 9 can be improved through the four-wheel V-groove gantry plate.

[0034] For a further optimized solution, a second four-wheel V-groove gantry plate 12 is connected to the second slide rail 11 in a rolling manner. The lead screw nut of the second lead screw assembly 8 is fixedly connected to the support plate on the second four-wheel V-groove gantry plate 12. A third slide rail 13 and a third lead screw assembly 9 are fixedly connected to the support plate of the second four-wheel V-groove gantry plate 12. A third four-wheel V-groove gantry plate 14 is connected to the third slide rail 13 in a rolling manner. The lead screw nut of the third lead screw assembly 9 is fixedly connected to the support plate on the third four-wheel V-groove gantry plate 14. A plurality of vacuum suction cups 2 are arranged on the support plate of the third four-wheel V-groove gantry plate 14.

[0035] For a further optimized solution, a steering gear 15 is fixedly connected to the support plate of the third four-wheel V-groove gantry plate 14. A connecting plate 16 is fixedly connected to the output shaft of the steering gear 15. The connecting plate 16 is fixedly connected to a plurality of vacuum suction cups 2. The output shaft of the steering gear 15 is perpendicular to the belt;

[0036] In this embodiment, two vacuum suction cups 2 are provided, and the connecting plate 16 is driven to rotate by the servo 15, thereby driving the two vacuum suction cups 2 to rotate to change the inclination angle, so that the rotation angle of the two vacuum suction cups 2 is controlled according to the inclination angle of the material, so as to facilitate the two vacuum suction cups 2 to align with the material.

[0037] Further optimizing the scheme, the plurality of vacuum suction cups 2 are fixedly connected and communicated with each other through a first hose 17, the output end of the vacuum pump 3 is fixedly connected and communicated with a second hose 1, one end of the second hose 1 away from the vacuum pump 3 is fixedly connected and communicated with any vacuum suction cup 2, and a solenoid valve (not shown in the figure) is fixedly connected to the second hose 1;

[0038] A negative pressure environment is provided to the vacuum suction cup 2 through the vacuum pump 3. When the material needs to be put down, the solenoid valve is opened to allow external air to enter the second hose 1, thereby causing the vacuum suction cup 2 to lose suction.

[0039] When the utility model is used at the beginning, the vacuum suction cup 2 is located at the initial position, when the workpiece arrives at the starting end of the conveyor belt 4 for transmission, the camera takes a picture, when the workpiece reaches below the photoelectric sensor at the rear end of the conveyor belt, the conveyor belt 4 stops, and the steering gear 15 drives the vacuum suction cup 2 to move, so that the inclination angles of the two vacuum suction cups 2 are consistent with the inclination angle of the workpiece, the first screw assembly 7, the second screw assembly 8 and the third screw assembly 9 drive the vacuum suction cup 2 to move above the workpiece, and then descend along the Z axis. After contacting the workpiece, the vacuum pump 3 is turned on and stays above the workpiece for 3S to absorb the workpiece. After the absorption is completed, it moves along the Z, X, and Y axes in sequence, drives the workpiece to move to just above the assembly position, and then descends along the Z axis to the specified position, the vacuum suction cup 2 releases the workpiece, and the vacuum suction cup 2 is reset to the initial position, waiting for the next handling work.

[0040] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0041] The embodiments described above are only descriptions of the preferred methods of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the protection scope determined by the claims of the present invention.

Claims

1. A vision-based material handling robot for handling materials on a conveyor belt (4), characterized in that: Comprising: A bracket, on which a driving mechanism is arranged; A plurality of vacuum suction cups (2), arranged at the output end of the driving mechanism, the driving mechanism drives the plurality of vacuum suction cups (2) to move along the X-axis, Y-axis and Z-axis directions, a vacuum pump (3) is fixedly connected to the bracket, and the vacuum pump (3) is communicated with the plurality of vacuum suction cups (2); A camera, fixedly connected to the fixing frame of the conveyor belt (4), the camera is located directly above the conveyor belt (4), and the camera and the vacuum suction cups (2) are arranged in sequence along the conveying direction of the conveyor belt (4); A photoelectric sensor, fixedly connected to the fixing frame of the conveyor belt (4), the photoelectric sensor is located directly above the conveyor belt (4), and the photoelectric sensor is within the moving range of the vacuum suction cups (2) on the horizontal plane.

2. The vision-based material handling robot according to claim 1, characterized in that: The bracket includes two parallel C-shaped frames (5) with their openings facing downwards, the two C-shaped frames (5) straddle the conveyor belt (4), two first slide rails (6) are fixedly connected between the two C-shaped frames (5), the two first slide rails (6) are respectively located on both sides of the conveyor belt (4), and the driving mechanism is arranged on the two first slide rails (6).

3. The vision-based material handling robot according to claim 2, characterized in that: The driving mechanism includes a first lead screw assembly (7), a second lead screw assembly (8) and a third lead screw assembly (9). The first lead screw assembly is fixedly connected to the C-shaped frame (5). A first four-wheel V-groove gantry plate (10) is rollingly connected to the first slide rail (6). The lead screw nut of the first lead screw assembly (7) is fixedly connected to the support plate on any one of the first four-wheel V-groove gantry plates (10). A second slide rail (11) and the second lead screw assembly (8) are fixedly connected between the support plates of the two first four-wheel V-groove gantry plates (10). The output end of the second lead screw assembly (8) is provided with the third lead screw assembly (9). The output end of the third lead screw assembly (9) is provided with a plurality of vacuum suction cups (2). The first lead screw assembly (7), the second lead screw assembly (8) and the third lead screw assembly (9) move along the Y-axis, X-axis and Z-axis directions respectively.

4. The vision-based material handling robot according to claim 3, characterized in that: A second four-wheel V-groove gantry plate (12) is rollingly connected to the second slide rail (11), and the lead screw nut of the second lead screw assembly (8) is fixedly connected to the support plate on the second four-wheel V-groove gantry plate (12); A third slide rail (13) and the third lead screw assembly (9) are fixedly connected to the support plate of the second four-wheel V-groove gantry plate (12). A third four-wheel V-groove gantry plate (14) is rollingly connected to the third slide rail (13). The lead screw nut of the third lead screw assembly (9) is fixedly connected to the support plate on the third four-wheel V-groove gantry plate (14), and a plurality of vacuum suction cups (2) are arranged on the support plate of the third four-wheel V-groove gantry plate (14).

5. The vision-based material handling robot according to claim 4, characterized in that: A servo motor (15) is fixedly connected to the support plate of the third four-wheel V-groove gantry plate (14), a connecting plate (16) is fixedly connected to the output shaft of the servo motor (15), and the connecting plate (16) is fixedly connected to the plurality of vacuum suction cups (2).

6. The vision-based material handling robot according to claim 1, characterized in that: The plurality of vacuum suction cups (2) are fixedly connected and communicated with each other via a first hose (17); the output end of the vacuum pump (3) is fixedly connected and communicated with a second hose (1); an end of the second hose (1) away from the vacuum pump (3) is fixedly connected and communicated with any one of the vacuum suction cups (2); and a solenoid valve is fixedly connected to the second hose (1).

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