Manipulator feeding and grabbing device based on visual positioning

Abstract

The utility model relates to the technical field of mechanical arm grabbing devices, and discloses a mechanical arm feeding grabbing device based on visual positioning, which comprises a mechanical arm main body, a pneumatic bearing clamp is arranged at the grabbing hand end of the mechanical arm main body, a first CCD (Charge Coupled Device) camera is arranged on the mechanical arm main body, and a material piece to be grabbed is arranged on the side surface of the mechanical arm main body. According to the mechanical arm, the mechanical arm body is matched with the pneumatic bearing clamp, a material piece to be grabbed can be grabbed, in the grabbing process, the first CCD camera is used for photographing, a visual software processing algorithm is used, the position of the material piece to be grabbed is judged, grabbing is accurate, and then the second CCD camera conducts secondary position positioning on the grabbed material piece to be grabbed. The material position deviation coordinate information caused in the grabbing process is calculated and corrected, the grabbing precision is high, the device achieves the secondary visual positioning capacity, the grabbing precision is relatively high, and the production stability and efficiency are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulator grasping devices, in particular to a manipulator loading and grasping device based on visual positioning. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements and functions of human hands and arms and is used to grab, move objects or operate tools according to a fixed program. It can be programmed to complete various expected operations, and has the advantages of both human and mechanical machines in structure and performance. The manipulator is the earliest industrial robot and also the earliest modern robot. It can replace heavy human labor to realize mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.

[0003] When in use, existing robotic arms can usually only grab materials and items at preset positions. However, in actual use, the material position of the existing grabbing device may change due to grabbing during the positioning and grabbing process, affecting the grabbing quality and the grabbing stability. The material grabbing accuracy of the overall robotic arm grabbing device is relatively general, affecting production stability and efficiency. For this reason, we propose a robotic arm loading and grabbing device based on visual positioning to solve the above problems. Utility Model Content

[0004] In response to the shortcomings of the prior art, the utility model provides a manipulator loading and grabbing device based on visual positioning, which has the advantages of secondary visual positioning capability, relatively high grabbing accuracy, increased production stability and efficiency, etc., and solves the problem that the material position of the existing grabbing device may change due to grabbing during the positioning and grabbing process, affecting the grabbing quality, and the accuracy is relatively insufficient, affecting production stability and efficiency.

[0005] In order to achieve the above-mentioned secondary visual positioning capability, the grasping accuracy is relatively high, and the purpose of increasing production stability and efficiency, the utility model provides the following technical solutions: a manipulator loading and grasping device based on visual positioning, comprising a manipulator body, and a pneumatic bearing clamp is provided at the grasping end of the manipulator body;

[0006] The manipulator body is provided with a first CCD camera, the side of the manipulator body is provided with a material to be grasped, and the side of the material to be grasped is provided with a second CCD camera;

[0007] The first CCD camera corresponds to the second CCD camera.

[0008] Preferably, the material pieces to be grasped include a material table, a receiving tray and the material pieces to be grasped, the receiving tray is placed on the side of the material table, the material pieces to be grasped are evenly placed in the receiving tray, and the second CCD camera is arranged on the side of the material table.

[0009] Preferably, a support frame is provided on the side of the material to be grasped, and the second CCD camera is installed on the support frame.

[0010] Preferably, a PLC control component is provided on the side of the manipulator body, and a visual analysis module, a position coordinate calculation module, a manipulator control module and a fixture control module are provided in the PLC control component, the manipulator control module is electrically connected to the manipulator body, the fixture control module is electrically connected to the pneumatic bearing fixture, the visual analysis module is signal-connected to the first CCD camera and the second CCD camera, the visual analysis module is electrically connected to the position coordinate calculation module, and the position coordinate calculation module is electrically connected to the manipulator control module and the fixture control module.

[0011] Compared with the prior art, the utility model provides a manipulator loading and grabbing device based on visual positioning, which has the following beneficial effects:

[0012] 1. The manipulator loading and grasping device based on visual positioning has a pneumatic load-bearing clamp and a first CCD camera on the manipulator body. The manipulator body cooperates with the pneumatic load-bearing clamp to grasp the material to be grasped. During the grasping process, the first CCD camera takes pictures, and the visual software processing algorithm is used to judge the position of the material to be grasped to achieve precise grasping. The second CCD camera then performs secondary position positioning on the material to be grasped after grasping, calculates and corrects the material position offset coordinate information caused in the grasping process, and has high grasping accuracy, so that the device can achieve secondary visual positioning capability, and the grasping accuracy is relatively high, which improves production stability and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a frontal perspective schematic diagram of the structure of the utility model;

[0014] Figure 2 It is a schematic diagram of the working principle of the utility model.

[0015] In the figure: 1. Robot body; 2. Pneumatic bearing fixture; 3. First CCD camera; 4. Material to be grasped; 41. Material table; 42. Serving tray; 43. Material to be grasped; 5. Second CCD camera; 6. Bearing frame; 7. PLC control component; 71. Visual analysis module; 72. Position coordinate calculation module; 73. Robot control module; 74. Fixture control module. DETAILED DESCRIPTION

[0016] 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.

[0017] See also Figure 1-Figure 2 , a manipulator loading and grabbing device based on visual positioning, comprising a manipulator body 1, a pneumatic bearing fixture 2 is provided at the gripper end of the manipulator body 1;

[0018] A first CCD camera 3 is disposed on the manipulator body 1, a material piece 4 to be grasped is disposed on the side of the manipulator body 1, and a second CCD camera 5 is disposed on the side of the material piece 4 to be grasped;

[0019] Wherein, the first CCD camera 3 corresponds to the second CCD camera 5;

[0020] The beneficial effects to be expressed by this scheme are as follows: by providing a pneumatic bearing clamp 2 and a first CCD camera 3 on the manipulator body 1, the manipulator body 1 cooperates with the pneumatic bearing clamp 2 to grasp the material piece 4 to be grasped, and the first CCD camera 3 takes pictures during the grasping process, and uses a visual software processing algorithm to judge the position of the material piece 4 to be grasped, so as to achieve a precise grasping effect, and then the second CCD camera 5 performs a secondary position positioning on the material piece 4 to be grasped after grasping, and calculates and corrects the coordinate information of the material position offset caused in the grasping process, so that the grasping accuracy is high, so that the device can achieve secondary visual positioning capability, the grasping accuracy is relatively high, and the production stability and efficiency are improved.

[0021] Preferably, the material piece 4 to be grasped includes a material table 41, a holding tray 42 and a material piece 43 to be grasped, the holding tray 42 is placed on the side of the material table 41, the material piece 43 to be grasped is evenly placed in the holding tray 42, and the second CCD camera 5 is arranged on the side of the material table 41;

[0022] By setting the material piece 4 to be grasped to include a material table 41, a receiving tray 42 and a material piece 43 to be grasped, the material table 41 plays a bearing role, and the receiving tray 42 and the material piece 43 to be grasped can be carried and placed on the material table 41, so that the material piece 43 to be grasped can be stably placed on the receiving tray 42, which is convenient for grasping and placing.

[0023] Preferably, a support frame 6 is provided on the side of the material piece 4 to be grasped, and the second CCD camera 5 is mounted on the support frame 6;

[0024] By providing the supporting frame 6, the second CCD camera 5 is installed and supported, thereby increasing the practicability of the device.

[0025] Preferably, a PLC control component 7 is provided on the side of the manipulator body 1, and a visual analysis module 71, a position coordinate calculation module 72, a manipulator control module 73 and a fixture control module 74 are provided in the PLC control component 7, the manipulator control module 73 is electrically connected to the manipulator body 1, the fixture control module 74 is electrically connected to the pneumatic bearing fixture 2, the visual analysis module 71 is signal-connected to the first CCD camera 3 and the second CCD camera 5, the visual analysis module 71 is electrically connected to the position coordinate calculation module 72, and the position coordinate calculation module 72 is electrically connected to the manipulator control module 73 and the fixture control module 74;

[0026] By setting up the PLC control component 7, the device robot body 1, the pneumatic bearing fixture 2, the first CCD camera 3 and the second CCD camera 5 can be controlled. The visual analysis module 71 can perform visual analysis on the pictures taken by the first CCD camera 3 and the second CCD camera 5. After the visual software processing algorithm performs analysis and calculation, the position coordinate calculation module 72 calculates the precise position of the material piece 4 to be grasped, so that the grasping is more accurate. The robot control module 73 controls the robot body 1, and the fixture control module 74 controls the pneumatic bearing fixture 2, which has a precise grasping effect and good practicality and stability.

[0027] It should be noted that the various devices in this application are common devices in the market, and can be selected according to specific needs during specific use. The circuit connection relationship of each device belongs to a simple series and parallel connection circuit. There is no innovation in the circuit connection. Those skilled in the art can easily implement it. It belongs to the existing technology and will not be elaborated.

[0028] Working principle: a pneumatic bearing fixture 2 and a first CCD camera 3 are provided on the manipulator body 1, and a second CCD camera 5 is provided on the side of the material piece 4 to be grasped. The manipulator body 1 moves to the top of the material piece 4 to be grasped, and the first CCD camera 3 takes a picture of the material piece 4 to be grasped. A deep learning visual software processing algorithm is used to determine the position of the material piece 4 to be grasped, and the coordinate information of the material piece 4 to be grasped is sent to the manipulator body 1. The manipulator body 1 starts to move after receiving the coordinate information of the material piece 4 to be grasped, and the pneumatic bearing fixture 2 at the end of the manipulator body 1 performs a grasping action after moving into position;

[0029] After the robot body 1 grabs the material piece 4 to be grabbed, it moves horizontally to the top of the second CCD camera 5. The second CCD camera 5 performs secondary positioning on the material piece 4 to be grabbed, calculates and corrects the coordinate information of the material position offset caused by the grabbing process, and then moves to the specified tooling position according to the two calculation results of the first CCD camera 3 and the second CCD camera 5, and the pneumatic bearing clamp 2 is actuated to release the grabbed material, so that the device can achieve secondary visual positioning capability, with relatively high grasping accuracy, thereby improving production stability and efficiency.

[0030] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0031] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot loading and grabbing device based on visual positioning, comprising a robot body (1), characterized in that: The gripper end of the manipulator body (1) is provided with a pneumatic bearing fixture (2); A first CCD camera (3) is provided on the manipulator body (1), a material piece (4) to be grasped is provided on the side of the manipulator body (1), and a second CCD camera (5) is provided on the side of the material piece (4) to be grasped; The first CCD camera (3) corresponds to the second CCD camera (5).

2. According to the vision positioning based robot loading and grabbing device of claim 1, it is characterized in that: The material pieces (4) to be grasped comprise a material table (41), a receiving tray (42) and the material pieces (43) to be grasped; the receiving tray (42) is placed on the side of the material table (41); the material pieces (43) to be grasped are evenly placed in the receiving tray (42); and the second CCD camera (5) is arranged on the side of the material table (41).

3. The robot loading and grabbing device based on visual positioning according to claim 2 is characterized in that: A support frame (6) is provided on the side of the material piece (4) to be grasped, and the second CCD camera (5) is mounted on the support frame (6).

4. The robot loading and grabbing device based on visual positioning according to claim 1 is characterized in that: A PLC control component (7) is provided on the side of the manipulator body (1), and a visual analysis module (71), a position coordinate calculation module (72), a manipulator control module (73) and a fixture control module (74) are provided in the PLC control component (7), the manipulator control module (73) is electrically connected to the manipulator body (1), and the fixture control module (74) is electrically connected to the pneumatic bearing fixture (2). The visual analysis module (71) is signal-connected to the first CCD camera (3) and the second CCD camera (5), the visual analysis module (71) is electrically connected to the position coordinate calculation module (72), and the position coordinate calculation module (72) is electrically connected to the manipulator control module (73) and the fixture control module (74).

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