Assembly line manipulator anti-collision visual imaging device

Abstract

The utility model discloses an assembly line manipulator anti-collision visual imaging device which comprises a base, a mechanical arm arranged on the base and a six-axis gripper arranged on the mechanical arm. The six-axis gripper is provided with a data acquisition module used for acquiring the number, colors and relative positions of paper tubes, an image processing module used for preprocessing information acquired by the data acquisition module, and PC platform computer equipment used for analyzing and controlling information sent by the image processing module. The colors, the number and the relative positions of the paper tubes grabbed by the six-axis gripper are acquired through the data acquisition module, are preliminarily processed through the image processing module and then are uploaded to the PC platform computer equipment for comparative analysis, problems are found in time through the PC platform computer equipment, and shutdown processing is conducted in time. The production accuracy is high, the working efficiency is improved, the use range is wide, the operation is simple and convenient, the product grabbing accuracy is high, and the product damage is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of bullet-adding packaging production line production equipment, in particular to an anti-collision visual imaging device for a production line manipulator. Background Art

[0002] At present, in the production of the existing bullet-adding packaging production line, the robot arm is mechanically fixed. Due to the different damages of the spindle rods of the wire car, the recognition of the industrial robot itself cannot meet the actual conditions of the on-site working conditions, resulting in the inability to perceive the correctness of the product position. At the same time, because some spindle rods of the wire car are tilted, some paper tubes deviate when the wire is put on, etc., and the manipulator is fixed and has no perception ability, it is easy to cause the product to be rubbed, scratched, damaged, etc. during operation. In the process of grabbing paper tubes, the existing manipulator mixes the colors of paper tubes due to the operator's mistake, which is also easy to cause mixed batches of specifications and cannot be automatically identified, eventually causing customer complaints; finally, due to operational errors, when the number of products on the wire car is missing, the missing parts cannot be identified in time, resulting in a box of finished wire missing. Therefore, it is necessary to improve the existing assembly line manipulator to solve the current technical problems. Utility Model Content

[0003] In order to solve one or some technical problems existing in the prior art, the purpose of this application is to provide an anti-collision visual imaging device for an assembly line manipulator, which can solve the problem that the robot cannot stop in time when problems occur in paper tubes, thereby reducing collisions, scratches and damages between paper tubes, and avoiding continued production when the colors of paper tubes are confused.

[0004] In order to solve the above existing technical problems, one of the purposes of this application is achieved by adopting the following technical solution:

[0005] A production line robot anti-collision visual imaging device comprises a base, a robot arm arranged on the base, and a six-axis gripper arranged on the robot arm. The six-axis gripper is provided with a data acquisition module for acquiring the number, color and relative position of paper tubes, an image processing module for preprocessing the information acquired by the data acquisition module, and a PC platform computer device for analyzing and controlling the information sent by the image processing module. The color, number and relative position of the paper tubes grasped by the six-axis gripper are acquired by the data acquisition module and preliminarily processed by the image processing module before being uploaded to the PC platform computer device for comparative analysis. Problems are discovered in a timely manner by the PC platform computer device and timely shutdown processing is performed.

[0006] Preferably, the data acquisition module includes a zoom camera and a sensor, and the information collected by the zoom camera is transmitted in real time through the sensor.

[0007] Preferably, the image processing module includes a cropping unit for cropping the image data emitted by the sensor, and an image transmission unit for transmitting the cropped image to the PC platform computer device.

[0008] Preferably, at least two data acquisition modules are provided, and the color, quantity and relative position images of the paper tubes are collected by the two data acquisition modules.

[0009] Preferably, each gripper on the six-axis gripper is spaced 30 cm apart.

[0010] Preferably, the two data acquisition modules are respectively installed on the second axis and the fifth axis of the six-axis gripper.

[0011] Compared with the prior art, the beneficial effects of the present invention are:

[0012] (1) When the six-axis gripper grabs the product paper tubes, each operation is for 6 products, which is just a box of finished silk. After the number of paper tubes is monitored in real time by the data acquisition module, the problem of missing quantity when the existing six-axis gripper grabs the finished silk for storage can be solved. When the number is missing, it can be stopped and reminded in time through the PC platform computer device, which is convenient for the operator to correct.

[0013] (2) The data acquisition module also collects the color of the paper tube and processes it separately through the image processing module, so that the PC platform computer device can timely identify the color of the paper tube. When a color error occurs, the machine can be stopped in time to avoid the operator mixing the paper tube colors by mistake, resulting in mixed batches of specifications and the inability to discover the problem in time.

[0014] (3) To detect the correct position of the product and avoid frequent occurrence of product collisions, scratches, damage, etc. due to operational problems. The production accuracy is high, the work efficiency is improved, it is widely used, easy to operate, and the accuracy of grabbing products is high, which reduces product damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of the manipulator in the utility model;

[0016] Figure 2 It is a system flow chart of the anti-collision visual imaging device in the utility model;

[0017] In the figure: 1. Base; 2. Robotic arm; 3. Data acquisition module; 31. Zoom camera; 32. Sensor; 4. Six-axis gripper; 5. Image processing module; 51. Cropping unit; 52. Image transmission unit; 6. PC platform computer equipment;. DETAILED DESCRIPTION

[0018] Below, the present application is further described in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form a new embodiment.

[0019] In the description of the present application, it should be understood that the terms "up", "down", "left", "right", etc., indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present application.

[0020] The terms "first", "second", etc. in this application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0021] like Figure 1 and Figure 2 As shown, an anti-collision visual imaging device for an assembly line robot comprises a base 1, a robot arm 2 arranged on the base 1, and a six-axis gripper 4 arranged on the robot arm 2. The six-axis gripper 4 is provided with a data acquisition module 3 for acquiring the number, color and relative position of paper tubes, and an image processing module 5 for pre-processing the information acquired by the data acquisition module 3. It also comprises a PC platform computer device 6 for analyzing and controlling the information sent by the image processing module 5. The color, number and relative position of the paper tubes grasped by the six-axis gripper 4 are acquired by the data acquisition module 3 and preliminarily processed by the image processing module 5, and then uploaded to the PC platform computer device 6 for comparative analysis. The PC platform computer device 6 can timely discover problems and perform timely shutdown processing.

[0022] When the six-axis gripper 4 grabs the product paper tubes, each operation is for 6 products, which is just a box of finished silk. After the number of paper tubes is monitored in real time by the data acquisition module 3, the collected data quantity can be compared with the set quantity. When the number of products is insufficient, the machine can be stopped in time, thereby solving the problem of missing quantity when the existing six-axis gripper 4 grabs the finished silk for storage. When the number is missing, it can be timely identified and stopped and reminded through the PC platform computer device 6. At the same time, during the use of the existing manipulator, due to the operator's mistake, the paper tube colors are mixed, which is easy to cause mixed batches of specifications and cannot be automatically identified, which eventually causes customer complaints. Therefore, the data acquisition module 3 also collects the color of the paper tube and processes it separately through the image processing module 5, so that the PC platform computer device 6 can timely identify the color of the paper tube. When the collected paper tube color does not match the color set by the system, the manipulator can be controlled to stop in time to avoid the operator's mistake of mixing the paper tube colors, resulting in mixed batches of specifications and cannot be discovered in time. At the same time, through the combination of the data acquisition module 3 and the image processing module 5, the number and relative position of the paper tubes can also be compared and analyzed, so as to timely replenish the paper tubes on the remaining six-axis gripper 4, avoiding the problem of missing a box of finished silk. At the same time, the correctness of the product position can be detected to avoid the frequent occurrence of collisions, scratches, damages, etc. of the product due to operational problems. The production accuracy is strong, the work efficiency is improved, the use is wide, the operation is simple, the accuracy of grabbing products is high, and product damage is reduced

[0023] As a further improvement, the data acquisition module 3 includes a zoom camera 31 and a sensor 32 , and the information collected by the zoom camera 31 is transmitted in real time via the sensor 32 .

[0024] The structure is simple. When disassembling the color, quantity and relative position of the paper tubes grasped by the six-axis gripper 4, the zoom camera 31 can clearly realize image acquisition and data transmission, thereby ensuring that the back-end PC platform computer device 6 has higher accuracy when performing comparative analysis.

[0025] As a further improvement, the image processing module 5 includes a cropping unit 51 for cropping the image data sent by the sensor 32 and an image transmission unit 52 for transmitting the cropped image to the PC platform computer device 6 .

[0026] The images collected and transmitted by the zoom camera 31 and the sensor 32 are uniformly cropped by the cropping unit 51, so that after the images are transmitted again through the image transmission unit 52, the PC platform computer device 6 is less likely to have unclear comparison problems, making it simpler and more accurate for the computer to compare data.

[0027] A further improvement is that at least two data acquisition modules 3 are provided, and the color, quantity and relative position images of the paper tubes are collected by the two data acquisition modules 3.

[0028] The use of multiple data acquisition modules 3 to collect the color, quantity and relative position image data of the paper tubes can achieve full coverage and avoid the problem of blind spots in monitoring.

[0029] A further improvement is that each gripper on the six-axis gripper 4 is spaced 30CM apart; the two data acquisition modules 3 are respectively installed on the second axis and the fifth axis of the six-axis gripper 4; the monitoring range and monitoring effect can be maximized, and multi-angle monitoring is achieved without blind spots.

[0030] The above-mentioned implementation modes are only preferred implementation modes of the present application and cannot be used to limit the scope of protection of the present application. Any non-substantial changes and substitutions made by technicians in this field on the basis of the present application shall fall within the scope of protection required by the present application.

Claims

1. A production line robot anti-collision visual imaging device, comprising a base (1), a robot arm (2) arranged on the base (1), and a six-axis gripper (4) arranged on the robot arm (2), characterized in that: The six-axis gripper (4) is provided with a data acquisition module (3) for acquiring the quantity, color and relative position of the paper tubes, and an image processing module (5) for pre-processing the information acquired by the data acquisition module (3), and also includes a PC platform computer device (6) for analyzing and controlling the information sent by the image processing module (5). The color, quantity and relative position of the paper tubes grasped by the six-axis gripper (4) are acquired by the data acquisition module (3) and preliminarily processed by the image processing module (5) before being uploaded to the PC platform computer device (6) for comparative analysis. Problems are discovered in a timely manner through the PC platform computer device (6) and timely shutdown processing is performed.

2. The assembly line robot anti-collision visual imaging device according to claim 1, characterized in that: The data acquisition module (3) comprises a zoom camera (31) and a sensor (32), and the information collected by the zoom camera (31) is transmitted in real time via the sensor (32).

3. The anti-collision visual imaging device for an assembly line manipulator according to claim 2, characterized in that: The image processing module (5) comprises a cropping unit (51) for cropping the image data sent by the sensor (32), and an image transmission unit (52) for transmitting the cropped image to the PC platform computer device (6).

4. The anti-collision visual imaging device for an assembly line manipulator according to claim 3 is characterized in that: At least two data acquisition modules (3) are provided, and the color, quantity and relative position images of the paper tubes are acquired through the two data acquisition modules (3).

5. The anti-collision visual imaging device for an assembly line manipulator according to claim 1, characterized in that: Each gripper on the six-axis gripper (4) is spaced 30 cm apart.

6. The anti-collision visual imaging device for an assembly line manipulator according to claim 5, characterized in that: The two data acquisition modules (3) are respectively installed on the second axis and the fifth axis of the six-axis gripper (4).

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