High-precision metal part positioning and grabbing device based on machine vision mode

Abstract

The utility model discloses a high-precision metal part positioning and grabbing device based on a machine vision mode, and particularly relates to the field of part positioning and grabbing, which comprises a working table, a machine vision mechanism is arranged on the working table, a manipulator mechanism is further arranged on the working table, and the manipulator mechanism is located below the machine vision mechanism. A material plate is arranged below the mechanical arm mechanism and detachably installed on the workbench, a part body is movably arranged on the material plate, a clamping assembly is installed at the output end of the mechanical arm mechanism, the output end of the clamping assembly is connected with an output shaft, an adjusting mechanism is installed on the output shaft, and an appearance detection assembly is installed on the adjusting mechanism. The adjusting mechanism drives the appearance detection assembly to be movably arranged at the bottom of the part body. According to the utility model, the adjustable appearance detection system is arranged on the output shaft, multi-angle appearance detection is carried out on the periphery and the bottom, and the moving process of a part body is reduced, so that the operation time is shortened, and the cost is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of parts positioning and grasping, and more specifically, to a high-precision metal parts positioning and grasping device based on a machine vision method. Background Art

[0002] The machine vision inspection system uses a CCD camera to convert the inspected target into an image signal, which is transmitted to a dedicated image processing system. It is converted into a digital signal based on pixel distribution, brightness, color and other information. The image processing system performs various operations on these signals to extract the target's features and realize automatic recognition.

[0003] In the production process of large quantities of high-precision metal parts, the use of machine vision inspection can greatly improve production efficiency and the degree of production automation. The main operations include first identifying the coordinates of high-precision metal parts through the machine vision inspection system, then controlling the robot to grasp the high-precision metal parts according to the coordinate positioning, and finally the robot clamps the high-precision metal parts and places them on the work station or conveyor belt.

[0004] Before placing high-precision metal parts at a workstation, it is necessary to inspect whether the appearance and shape of the high-precision metal parts are qualified. The prior art installs an appearance detector on a manipulator. Before positioning and grasping the high-precision metal parts, the manipulator drives the appearance detector to circle the high-precision metal parts for appearance and shape inspection. However, the bottom of the high-precision metal parts cannot be inspected. Therefore, the prior art needs to set up another set of appearance detectors facing upward. After positioning and grasping the high-precision metal parts and lifting them up, they are moved to the appearance detector facing upward for bottom inspection, resulting in long operation time and high cost. Utility Model Content

[0005] The utility model provides a high-precision metal part positioning and grasping device based on machine vision, and aims to solve the problem that the existing high-precision metal part positioning and grasping device based on machine vision, after positioning and grasping the high-precision metal parts and lifting them, moves them to an upwardly arranged appearance detector for bottom detection, resulting in long operation time and high cost.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a high-precision metal part positioning and grasping device based on machine vision, comprising a workbench, a machine vision mechanism is installed on the workbench, a manipulator mechanism is also installed on the workbench, and the manipulator mechanism is located below the machine vision mechanism, a material plate is provided below the manipulator mechanism, and the material plate is detachably installed on the workbench, a part body is movably provided on the material plate, a clamping assembly is installed at the output end of the manipulator mechanism, the output end of the clamping assembly is connected to an output shaft, an adjusting mechanism is installed on the output shaft, an appearance detection assembly is installed on the adjusting mechanism, and the adjusting mechanism drives the appearance detection assembly to be movably arranged at the bottom of the part body; the adjusting mechanism comprises a connecting sleeve, a linear drive mechanism 1 is fixedly provided on the outer side of the connecting sleeve, a swing arm is rotatably provided at the output end of the linear drive mechanism 1, a linear drive mechanism 2 is fixedly provided at one end of the swing arm, a detection camera is installed at the output end of the linear drive mechanism 2, a drive motor 2 is connected to the end of the swing arm away from the linear drive mechanism 2, and the drive motor 2 is fixedly installed on the output end of the linear drive mechanism 1.

[0007] In a preferred embodiment, a suction head is fixedly provided at the bottom end of the output shaft, and the suction head is located below the connecting sleeve, and the suction head sucks the part body through negative pressure.

[0008] In a preferred embodiment, a driving motor 1 is fixedly mounted on one side of the output shaft, and the output end of the driving motor 1 is connected to the connecting sleeve via a gear transmission.

[0009] In a preferred embodiment, an extension column is fixedly provided at one end of the linear drive mechanism away from the connecting sleeve, a limit switch is fixedly installed at one end of the extension column away from the linear drive mechanism, and the limit switch is located above the end of the swing arm away from the drive motor 2.

[0010] In a preferred embodiment, a cleaning mechanism is installed on the extension column, the cleaning mechanism is located on one side of the suction head, and the detection camera contacts the cleaning mechanism for cleaning.

[0011] In a preferred embodiment, the cleaning mechanism includes a vertical plate, one side of the vertical plate is fixed with cleaning cotton, and the cleaning cotton is located on one side of the detection camera.

[0012] In a preferred embodiment, a mounting sleeve is fixedly provided on the top of the vertical plate, and the mounting sleeve is fixedly connected to the extension column. A groove is provided on the side of the vertical plate away from the cleaning cotton, and the swing arm is movably arranged in the groove.

[0013] In a preferred embodiment, a hollow box is fixedly provided on one side of the vertical plate close to the cleaning cotton, and the hollow box is located above the cleaning cotton, a blowing plate is fixedly provided on the bottom of one end of the hollow box, and an air hole is provided on the side of the blowing plate close to the cleaning cotton, a fan is fixedly installed above the linear drive mechanism, and the fan and the hollow box are connected by a pipe.

[0014] The beneficial effects of the utility model are:

[0015] The utility model arranges an adjustable appearance detection system on the output shaft to perform multi-angle appearance detection on the periphery and the bottom, thereby reducing the movement process of the part body, thereby shortening the operation time and reducing the cost.

[0016] The utility model drives the linear drive mechanism 2 to flip from horizontal to vertical through the swing arm, so that the linear drive mechanism 2 returns to the original position. At this time, the linear drive mechanism 2 drives the detection camera to move upward, so that the detection surface of the detection camera contacts the cleaning cotton for cleaning, and the debris on the detection surface of the detection camera is removed to avoid debris falling on the detection camera and causing obstruction, thereby ensuring the detection accuracy of the detection camera. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0018] Figure 2 It is a schematic diagram of the overall front structure of the utility model.

[0019] Figure 3 This is a schematic diagram of the peripheral appearance inspection of a part body according to the utility model.

[0020] Figure 4 This is a schematic diagram of the bottom appearance inspection of the part body according to the utility model.

[0021] Figure 5 It is a schematic diagram of the side structure of the vertical plate of the utility model.

[0022] The accompanying drawings are marked as follows: 1. workbench; 2. machine vision mechanism; 3. manipulator mechanism; 31. clamping assembly; 32. output shaft; 33. suction head; 4. material plate; 41. part body; 5. connecting sleeve; 51. drive motor 1; 6. linear drive mechanism 1; 61. fan; 7. swing arm; 71. drive motor 2; 8. linear drive mechanism 2; 81. detection camera; 9. extension column; 91. mounting sleeve; 92. vertical plate; 93. limit switch; 94. hollow box; 95. blowing plate; 96. cleaning cotton. DETAILED DESCRIPTION

[0023] The present application is further described in detail below in conjunction with the accompanying drawings. It is necessary to point out here that the following specific implementation methods are only used to further illustrate the present application and cannot be understood as limiting the scope of protection of the present application. Technical personnel in this field can make some non-essential improvements and adjustments to the present application based on the above application content.

[0024] Refer to the instruction manual Figures 1 to 4 A high-precision metal part positioning and grasping device based on machine vision comprises a workbench 1, a machine vision mechanism 2 is installed on the workbench 1, a manipulator mechanism 3 is also installed on the workbench 1, and the manipulator mechanism 3 is located below the machine vision mechanism 2, a material plate 4 is provided below the manipulator mechanism 3, and the material plate 4 can be detachably installed on the workbench 1, a part body 41 is movably provided on the material plate 4, a clamping component 31 is installed at the output end of the manipulator mechanism 3, an output shaft 32 is connected to the output end of the clamping component 31, an adjustment mechanism is installed on the output shaft 32, and the adjustment mechanism An appearance detection component is installed on the structure, and the adjustment mechanism drives the appearance detection component to move and is arranged at the bottom of the part body 41; the adjustment mechanism includes a connecting sleeve 5, and a linear drive mechanism 6 is fixedly provided on the outer side of the connecting sleeve 5, and a swing arm 7 is rotatably provided at the output end of the linear drive mechanism 6, and a linear drive mechanism 2 8 is fixedly provided at one end of the swing arm 7, and a detection camera 81 is installed at the output end of the linear drive mechanism 2 8, and a drive motor 2 71 is connected to the end of the swing arm 7 away from the linear drive mechanism 2 8, and the drive motor 2 71 is fixedly installed on the output end of the linear drive mechanism 6.

[0025] It should be noted that the machine vision mechanism 2 is a machine vision system of the prior art, which mainly includes a visual camera for detecting and identifying the coordinates of the part body 41. A linear motor is installed in the clamping assembly 31 for driving the output shaft 32 to move vertically. The linear drive mechanism 1 6 and the linear drive mechanism 2 8 use linear guides of the prior art. The linear drive mechanism 1 6 and the linear drive mechanism 2 8 are perpendicular to each other when they are in the initial state.

[0026] Furthermore, a suction head 33 is fixedly provided at the bottom end of the output shaft 32 , and the suction head 33 is located below the connecting sleeve 5 , and the suction head 33 sucks the part body 41 through negative pressure.

[0027] It should be noted that a negative pressure pump is also installed in the clamping assembly 31 , and the negative pressure pump is connected to the suction head 33 , and the part body 41 is sucked by the suction head 33 under negative pressure.

[0028] Furthermore, a driving motor 51 is fixedly mounted on one side of the output shaft 32, and an output end of the driving motor 51 is connected to the connecting sleeve 5 via a gear transmission.

[0029] It should be noted that the connecting sleeve 5 is divided into two sections, the linear drive mechanism 6 is fixed to the lower section of the connecting sleeve 5, a passive gear is provided on the outer periphery of the upper section of the connecting sleeve 5, and a driving gear is fixed at the output end of the bottom of the driving motor 51. The driving motor 51 drives the connecting sleeve 5 to rotate around the output shaft 32 through the driving gear and the passive gear.

[0030] Furthermore, an extension column 9 is fixedly provided at one end of the linear drive mechanism 6 away from the connecting sleeve 5, and a limit switch 93 is fixedly installed at one end of the extension column 9 away from the linear drive mechanism 6, and the limit switch 93 is located above the end of the swing arm 7 away from the drive motor 2 71.

[0031] It should be noted that when the linear drive mechanism 28 is in the initial state, the limit switch 93 contacts the top end of the linear drive mechanism 28, so as to return the linear drive mechanism 28 to the original state after adjustment.

[0032] In this embodiment, the implementation scenario is specifically as follows: the machine vision mechanism 2 first detects the coordinates of the part body 41 on the material plate 4, drives the output shaft 32 to extend through the clamping component 31, and then sucks the part body 41 through the negative pressure of the suction head 33. After the part body 41 is lifted, the driving motor 1 51 drives the connecting sleeve 5 to rotate, so that the detection camera 81 on the linear drive mechanism 2 8 rotates around the periphery of the part body 41, first performs an appearance inspection on the periphery of the part body 41, and then drives the swing arm 7 to flip through the driving motor 2 71, and rotates the linear drive mechanism 2 8 to a horizontal state. At this time, the detection camera 81 is rotated around the periphery of the part body 41. The machine 81 performs an appearance inspection on the bottom of the part body 41 upwards, performs a comprehensive appearance inspection on the periphery and the bottom of the part body 41, and uploads the data to the main control terminal. After data analysis and processing, it is determined whether the appearance of the part body 41 is defective, and the defective unqualified part body 41 is sent to the waste storage by the manipulator mechanism 3, and the defect-free qualified part body 41 is sent to the work station or the conveyor belt. By arranging an adjustable appearance inspection system on the output shaft 32, a multi-angle appearance inspection of the periphery and the bottom is performed, and the movement process of the part body 41 is reduced, thereby shortening the operation time and reducing costs.

[0033] In the above embodiment, since the detection camera 81 moves to the bottom of the part body 41 for detection, when debris falls on the part body 41, it will fall on the detection camera 81 to cause obstruction, affecting the detection accuracy of the detection camera 81. In order to solve this problem, the following technical solutions are also provided:

[0034] Refer to the instruction manual Figures 3 to 5 A cleaning mechanism is installed on the extension column 9, and the cleaning mechanism is located on one side of the suction head 33. The detection camera 81 contacts the cleaning mechanism for cleaning.

[0035] Furthermore, the cleaning mechanism includes a vertical plate 92 , a cleaning cotton 96 is fixedly provided on one side of the vertical plate 92 , and the cleaning cotton 96 is located on one side of the detection camera 81 .

[0036] It should be noted that the cleaning cotton 96 is a breathable sponge. When the linear drive mechanism 8 returns to the original position after adjustment, the detection camera 81 is driven to rise until the detection surface of the detection camera 81 contacts the cleaning cotton 96. At this time, the detection surface of the detection camera 81 is cleaned.

[0037] Furthermore, a mounting sleeve 91 is fixedly provided on the top of the vertical plate 92, and the mounting sleeve 91 is fixedly connected to the extension column 9. A groove is provided on the side of the vertical plate 92 away from the cleaning cotton 96, and the swing arm 7 is movably arranged in the groove.

[0038] It should be noted that, when the swing arm 7 is flipping, the groove of the vertical plate 92 provides space for the swing arm 7 to prevent the vertical plate 92 from interfering with the flipping of the swing arm 7 .

[0039] In this embodiment, the implementation scenario is specifically as follows: the linear drive mechanism 28 is driven by the swing arm 7 to flip from horizontal to vertical, so that the linear drive mechanism 28 returns to its original position. At this time, the linear drive mechanism 28 drives the detection camera 81 to move upward, so that the detection surface of the detection camera 81 contacts the cleaning cotton 96 for cleaning, and the debris on the detection surface of the detection camera 81 is removed to prevent debris from falling on the detection camera 81 and causing obstruction, thereby ensuring the detection accuracy of the detection camera 81.

[0040] In the above embodiment, after the cleaning cotton 96 cleans the detection surface of the detection camera 81, debris will stick to the cleaning cotton 96, thereby affecting the cleaning effect of the next time. In order to solve this problem, the following technical solutions are also provided:

[0041] Refer to the instruction manual Figures 3 to 5 A hollow box 94 is fixedly provided on one side of the vertical plate 92 close to the cleaning cotton 96, and the hollow box 94 is located above the cleaning cotton 96. A blowing plate 95 is fixedly provided on the bottom of one end of the hollow box 94, and an air hole is opened on the side of the blowing plate 95 close to the cleaning cotton 96. A fan 61 is fixedly installed above the linear drive mechanism 6, and the fan 61 is connected to the hollow box 94 through a pipeline.

[0042] It should be noted that the detection camera 81 and the blowing plate 95 are respectively located on both sides of the cleaning cotton 96, the hollow box 94 is hollow, the width of the blowing plate 95 is slightly smaller than the width of the cleaning cotton 96, and multiple groups of air holes are arranged on the blowing plate 95, and the positions of the multiple groups of air holes coincide with the cleaning cotton 96.

[0043] In this embodiment, the implementation scenario is specifically as follows: starting the fan 61 can blow air into the hollow box 94, and then exhaust the air through the air holes on one side of the blowing plate 95, thereby blowing air to the cleaning cotton 96, with the side of the cleaning cotton 96 cleaning the detection camera 81 as the front, and the blowing starts from the back, so that the debris adhering to the front of the cleaning cotton 96 can be blown off. The working time of the fan 61 is when the linear drive mechanism 8 is in the horizontal position, the fan 61 can be turned on to clean the cleaning cotton 96 to ensure that there is no debris adhering to the cleaning cotton 96 to avoid affecting the next cleaning effect.

[0044] The above-mentioned embodiments only express several implementation methods of the utility model, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the utility model. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model.

Claims

1. A high-precision metal part positioning and grasping device based on machine vision, comprising a workbench (1), a machine vision mechanism (2) being installed on the workbench (1), a manipulator mechanism (3) being installed on the workbench (1), and the manipulator mechanism (3) being located below the machine vision mechanism (2), a material plate (4) being provided below the manipulator mechanism (3), and the material plate (4) being detachably installed on the workbench (1), and a part body (41) being movably provided on the material plate (4), characterized in that: The output end of the manipulator mechanism (3) is equipped with a gripping assembly (31), the output end of the gripping assembly (31) is connected to an output shaft (32), an adjustment mechanism is installed on the output shaft (32), an appearance detection assembly is installed on the adjustment mechanism, and the adjustment mechanism drives the appearance detection assembly to move and is arranged at the bottom of the part body (41); The adjustment mechanism comprises a connecting sleeve (5), a linear drive mechanism (6) is fixedly provided on the outer side of the connecting sleeve (5), a swing arm (7) is rotatably provided on the output end of the linear drive mechanism (6), a linear drive mechanism (8) is fixedly provided on one end of the swing arm (7), a detection camera (81) is installed on the output end of the linear drive mechanism (8), a drive motor (71) is connected to the end of the swing arm (7) away from the linear drive mechanism (8), and the drive motor (71) is fixedly installed on the output end of the linear drive mechanism (6).

2. According to claim 1, a high-precision metal parts positioning and grasping device based on machine vision is characterized in that: A suction head (33) is fixedly provided at the bottom end of the output shaft (32), and the suction head (33) is located below the connecting sleeve (5). The suction head (33) sucks the part body (41) through negative pressure.

3. The high-precision metal parts positioning and grasping device based on machine vision according to claim 2 is characterized in that: A driving motor 1 (51) is fixedly mounted on one side of the output shaft (32), and the output end of the driving motor 1 (51) is connected to the connecting sleeve (5) via a gear transmission.

4. The high-precision metal parts positioning and grasping device based on machine vision according to claim 3 is characterized by: An extension column (9) is fixedly provided at one end of the linear drive mechanism (6) away from the connecting sleeve (5), and a limit switch (93) is fixedly installed at one end of the extension column (9) away from the linear drive mechanism (6), and the limit switch (93) is located above one end of the swing arm (7) away from the drive motor (71).

5. The high-precision metal parts positioning and grasping device based on machine vision according to claim 4 is characterized in that: A cleaning mechanism is installed on the extension column (9), the cleaning mechanism is located on one side of the suction head (33), and the detection camera (81) contacts the cleaning mechanism for cleaning.

6. The high-precision metal parts positioning and grasping device based on machine vision according to claim 5, characterized in that: The cleaning mechanism comprises a vertical plate (92), a cleaning cotton (96) is fixedly provided on one side of the vertical plate (92), and the cleaning cotton (96) is located on one side of the detection camera (81).

7. The high-precision metal parts positioning and grasping device based on machine vision according to claim 6, characterized in that: A mounting sleeve (91) is fixedly provided at the top of the vertical plate (92), and the mounting sleeve (91) is fixedly connected to the extension column (9). A groove is provided on a side of the vertical plate (92) away from the cleaning cotton (96), and the swing arm (7) is movably arranged in the groove.

8. The high-precision metal parts positioning and grasping device based on machine vision according to claim 7, characterized in that: A hollow box (94) is fixedly provided on one side of the vertical plate (92) close to the cleaning cotton (96), and the hollow box (94) is located above the cleaning cotton (96); a blowing plate (95) is fixedly provided on the bottom of one end of the hollow box (94), and an air hole is opened on the side of the blowing plate (95) close to the cleaning cotton (96); a fan (61) is fixedly installed above the linear drive mechanism (6), and the fan (61) and the hollow box (94) are connected through a pipeline.

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