Automatic production line camera shooting angle compensation system

Abstract

The utility model relates to the technical field of automatic production lines, in particular to a camera shooting angle compensation system of an automatic production line, which comprises a mounting bracket and a manipulator, a camera is arranged on the mounting bracket, the camera is fixedly arranged on the mounting bracket, a driver is arranged on the manipulator, the driver is fixedly arranged on the manipulator, and the camera is fixedly arranged on the manipulator. And the driver is electrically connected with the camera. Pixel values are sent to the robot after photographing is completed, qualified or unqualified signals can be fed back after the robot completes operation, when the angle compensation range calculated by the robot exceeds + / -degree, secondary adjusting and clamping can be carried out at the offline material channel, secondary photographing is carried out at the same time, if the angle compensation range is qualified, adjusting is carried out at + / -degree, and the angle compensation range is larger than + / -degree. And after exceeding, the camera is directly thrown into the off-line material channel or stops reporting errors, the camera is circularly started again after an operator confirms the errors, the camera is fixedly arranged, the stability of the camera during photographing is improved, and the camera shooting angle compensation is accurate.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic production lines, in particular to a camera shooting angle compensation system for an automatic production line. Background Art

[0002] An automatic production line refers to a form of production organization in which the product process is realized by an automated machine system. It is formed on the basis of the further development of the continuous assembly line. Its characteristics are: the processing object is automatically transferred from one machine tool to another, and the machine tool automatically performs processing, loading and unloading, and inspection.

[0003] Existing automatic production lines need to use cameras to perform appearance inspections on products during transportation and processing to ensure the aesthetics of the products before they leave the factory. However, since the position of the camera and the position of the product remain relatively fixed in the prior art, the camera can only shoot the product at a fixed angle, and the product cannot make angle compensation based on the camera shooting angle. Utility Model Content

[0004] The purpose of the utility model is to solve the problem that the products in the prior art cannot perform angle compensation according to the camera shooting angle, and to propose an automatic production line camera shooting angle compensation system.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] The camera angle compensation system of the automatic production line includes a mounting bracket and a manipulator, and the mounting bracket is provided with:

[0007] A camera, wherein the camera is fixedly mounted on a mounting bracket;

[0008] The robot is provided with:

[0009] A driver, wherein the driver is fixedly mounted on the manipulator and is electrically connected to the camera;

[0010] A clamping assembly is driven to rotate by a driver, the clamping assembly is fixedly connected to the output end of the driver, and the clamping assembly is used to fix and clamp the product.

[0011] Preferably, the mounting bracket is an L-shaped bracket structure composed of a longitudinal section and a transverse section, and the manipulator is arranged below the transverse section of the mounting bracket.

[0012] Preferably, the clamping assembly comprises:

[0013] A mounting plate and a mounting opening, wherein the mounting plate is fixedly mounted on the output end of the driver, and the mounting opening is opened on the mounting plate;

[0014] A telescopic cylinder, wherein the telescopic cylinder is fixedly mounted on the mounting plate, and an output end of the telescopic cylinder extends into the mounting opening;

[0015] A guide slider and a support slider, wherein the guide slider is slidably mounted on the mounting plate, and the support slider is slidably mounted on the mounting plate;

[0016] A connecting rod and a clamping block, wherein the connecting rod is fixedly connected to the guide slider and the support slider, and the clamping block is fixedly connected to a side of the connecting rod close to the mounting opening;

[0017] A driving block and a traction rod, wherein the driving block is fixedly connected to the output end of the telescopic cylinder, and the traction rod is connected between the guide slider and the driving block.

[0018] Preferably, the mounting opening is provided at the middle end of the mounting plate, and the mounting plate is provided with a movable through hole connected to the mounting opening and used for the output end of the movable set telescopic cylinder.

[0019] Preferably, a rubber pad is provided at one end of the clamping block close to the mounting opening.

[0020] Preferably, both ends of the traction rod are pin-connected to the guide slider and the driving block respectively.

[0021] Compared with the prior art, the utility model has the following advantages:

[0022] 1. After the utility model completes the photo-taking, the pixel value is given to the robot. After the robot completes the calculation, it will feedback a qualified or unqualified signal. When the angle compensation range calculated by the robot exceeds ±5 degrees, it will perform secondary adjustment and clamping at the offline material channel, and take a second photo at the same time. If it is qualified, it will be adjusted within ±5 degrees. If it exceeds, it will directly enter the offline material channel, or stop and report an error. After the operator confirms, it will start the cycle again. The fixed setting of the camera helps to improve the stability of the camera when taking pictures, and the camera shooting angle compensation is accurate, which helps to ensure the appearance qualification rate of the product when leaving the factory.

[0023] 2. In the utility model, the product is fixedly clamped by the rubber pad on the clamping block, and the elasticity of the rubber pad itself is utilized so that the clamping assembly can flexibly clamp the product, which helps to ensure that the product will not be damaged due to excessive squeezing. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a structural schematic diagram of the automatic production line camera angle compensation system proposed by the utility model;

[0025] Figure 2 This is a bottom view of the automatic production line camera angle compensation system proposed by the utility model;

[0026] Figure 3This is a schematic diagram of the connection structure of the manipulator, driver and clamping component of the automatic production line camera angle compensation system proposed by the utility model.

[0027] In the figure: 1. mounting bracket; 2. manipulator; 3. camera; 4. driver; 5. mounting plate; 6. mounting port; 7. telescopic cylinder; 8. guide slider; 9. support slider; 10. connecting rod; 11. clamping block; 12. driving block; 13. traction rod. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0029] Reference Figure 1-Figure 3 , the automatic production line camera shooting angle compensation system includes a mounting bracket 1 and a manipulator 2, the mounting bracket 1 is an L-shaped bracket structure composed of a longitudinal section and a transverse section, the manipulator 2 is arranged below the transverse section of the mounting bracket 1, and a camera 3 is arranged on the transverse section of the mounting bracket 1;

[0030] The manipulator 2 is provided with a driver 4 and a clamping assembly driven to rotate by the driver 4, and the components are arranged as follows:

[0031] The driver 4 is fixedly mounted on the manipulator 2, and the driver 4 is electrically connected to the camera 3. When the camera 3 is shooting, the driver 4 can operate according to the shooting angle of the camera 3;

[0032] The clamping assembly is fixedly connected to the output end of the driver 4, and is used to fix and clamp the product, so that the clamping assembly can be adjusted according to the shooting angle of the camera 3, which helps to improve the appearance qualification rate of the product before leaving the factory;

[0033] Further implementation method is that the clamping assembly includes a mounting plate 5, a mounting port 6, a telescopic cylinder 7, a guide slider 8, a support slider 9, a connecting rod 10, a clamping block 11, a driving block 12 and a traction rod 13, and each component is arranged as follows:

[0034] The mounting plate 5 is fixedly mounted on the output end of the driver 4, and the mounting opening 6 is opened on the mounting plate 5, and the mounting opening 6 is opened at the middle end position of the mounting plate 5;

[0035] The telescopic cylinder 7 is fixedly mounted on the mounting plate 5, and the output end of the telescopic cylinder 7 extends into the mounting opening 6. The mounting plate 5 is provided with an active through hole connected to the mounting opening 6 and used for movably fitting the output end of the telescopic cylinder 7. The active through hole can provide a movable space for the telescopic movement of the output end of the telescopic cylinder 7.

[0036] The guide slider 8 is slidably mounted on the mounting plate 5, and the support slider 9 is slidably mounted on the mounting plate 5. The sliding mode is one of a slide groove or a slide rail, as follows:

[0037] When a slide groove is used, the slide groove is opened on the mounting plate 5, and the guide slider 8 and the support slider 9 are slidably mounted in the slide groove. By opening the groove, the overall weight of the mounting plate 5 can be reduced, which helps to reduce the weight of the load required by the manipulator 2 when operating.

[0038] When a slide rail is used, the slide rail is fixedly connected to the mounting plate 5, and the guide slider 8 and the support slider 9 are slidably mounted on the slide rail. By adding the slide rail to the mounting plate 5, the slide rail can be installed by a detachable fixing method such as bolts, so that the slide rail can be replaced in time when it is seriously worn.

[0039] The connecting rod 10 is fixedly connected to the guide slider 8 and the support slider 9. The connecting rod 10 is supported at two points by the guide slider 8 and the support slider 9, which helps to ensure the stability of the connecting rod 10 during movement. The clamping block 11 is fixedly connected to the side of the connecting rod 10 close to the installation port 6. A rubber cushion is provided at one end of the clamping block 11 close to the installation port 6. The rubber cushion can realize non-destructive clamping of the product by the clamping block 11, which helps to avoid damage to the outer surface of the product due to excessive extrusion;

[0040] The driving block 12 is fixedly connected to the output end of the telescopic cylinder 7 , and both ends of the traction rod 13 are pin-connected to the guide slider 8 and the driving block 12 , respectively, so that the driving block 12 provides installation space for the two traction rods 13 .

[0041] The functional principle of the utility model can be explained through the following operation modes:

[0042] After the camera 3 recognizes the angle to the product, the telescopic cylinder 7 is started, the telescopic cylinder 7 drives the driving block 12 to extend horizontally, the driving block 12 drives one end of the traction rod 13 to perform linear movement, the other end of the traction rod 13 pulls and drives the guide slider 8 to slide horizontally, the guide slider 8 drives the connecting rod 10 to move horizontally, the connecting rod 10 drives the supporting slider 9 to slide horizontally, and the connecting rod 10 drives the clamping block 11 to clamp and limit the product;

[0043] After the photo is taken, the pixel value is given to the robot. After the robot completes the calculation, it will feedback a qualified or unqualified signal. When the angle compensation range calculated by the robot exceeds ±5 degrees, the robot grabs the product through the above operation and moves it to the material channel. According to the shooting angle, the driver 4 is started to drive the clamping component to rotate. The robot repeats the above operation to re-grasp and take a second photo. If it is qualified, it will be adjusted within ±5 degrees. If it exceeds, it will be directly thrown into the offline material channel, or stop and report an error, and then the cycle will be started again after the operator confirms.

[0044] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An automatic production line camera shooting angle compensation system, comprising a mounting bracket (1) and a manipulator (2), characterized in that: The mounting bracket (1) is provided with: A camera (3), wherein the camera (3) is fixedly mounted on the mounting bracket (1); The manipulator (2) is provided with: A driver (4), wherein the driver (4) is fixedly mounted on the manipulator (2), and the driver (4) is electrically connected to the camera (3); A clamping assembly driven to rotate by a driver (4), the clamping assembly being fixedly connected to an output end of the driver (4), and being used to fixedly clamp a product.

2. The automatic production line camera shooting angle compensation system according to claim 1, characterized in that: The mounting bracket (1) is an L-shaped bracket structure composed of a longitudinal section and a transverse section, and the manipulator (2) is arranged below the transverse section of the mounting bracket (1).

3. The automatic production line camera shooting angle compensation system according to claim 1, characterized in that: The clamping assembly comprises: A mounting plate (5) and a mounting opening (6), wherein the mounting plate (5) is fixedly mounted on the output end of the driver (4), and the mounting opening (6) is opened on the mounting plate (5); A telescopic cylinder (7), wherein the telescopic cylinder (7) is fixedly mounted on the mounting plate (5), and an output end of the telescopic cylinder (7) extends into the mounting opening (6); A guide slider (8) and a support slider (9), wherein the guide slider (8) is slidably mounted on the mounting plate (5), and the support slider (9) is slidably mounted on the mounting plate (5); A connecting rod (10) and a clamping block (11), wherein the connecting rod (10) is fixedly connected to the guide slider (8) and the support slider (9), and the clamping block (11) is fixedly connected to a side of the connecting rod (10) close to the mounting opening (6); A driving block (12) and a traction rod (13), wherein the driving block (12) is fixedly connected to the output end of the telescopic cylinder (7), and the traction rod (13) is connected between the guide slider (8) and the driving block (12).

4. The automatic production line camera shooting angle compensation system according to claim 3 is characterized in that: The mounting opening (6) is provided at the middle end of the mounting plate (5), and the mounting plate (5) is provided with a movable through hole connected to the mounting opening (6) and used for the output end of the movable sleeve telescopic cylinder (7).

5. The automatic production line camera shooting angle compensation system according to claim 3, characterized in that: A rubber cushion is provided at one end of the clamping block (11) close to the mounting opening (6).

6. The automatic production line camera shooting angle compensation system according to claim 3, characterized in that: The two ends of the traction rod (13) are respectively pin-connected to the guide slider (8) and the driving block (12).

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