Visual guidance correction device

Abstract

The utility model provides a visual guidance correction device, and belongs to the technical field of machinery. The problem of poor stability in the prior art is solved. The visual guidance correction device comprises a machine frame and further comprises an industrial camera, a light source, a conveying assembly and a mechanical arm, a cavity is formed in the machine frame, the conveying assembly transversely penetrates through the machine frame, and a template used for positioning a workpiece is arranged on the conveying assembly. The industrial camera and the light source are both fixedly connected into the rack and located over the conveying assembly, the industrial camera can record the actual positioning position of the workpiece at the template, the mechanical arm can grab the workpiece at the template and correct the position of the workpiece, and the workpiece at the corrected position can be placed into the template again. The visual guidance correction device is high in stability.

Description

Technical Field

[0001] The utility model belongs to the technical field of machinery and relates to a vision-guided calibration device. Background Technique

[0002] During the conveying process of products on the assembly line, their positions may be incorrect. When they enter the corresponding processing stations, the incorrect positions need to be adjusted by operators in a timely manner, which affects the operation efficiency and results in relatively low operation efficiency.

[0003] At the same time, since the positions of the workpieces are completely observed and processed by operators, and due to the huge conveying volume of workpieces during industrial production operations, some workpieces with incorrect positions may be missed, resulting in incorrect processing when entering the corresponding stations and also reducing the yield rate. Summary of the Invention

[0004] The purpose of the utility model is to provide a vision-guided calibration device with a compact structure and high operation efficiency for the above problems existing in the prior art.

[0005] The purpose of the utility model can be achieved by the following technical solutions:

[0006] A vision-guided calibration device includes a frame. It is characterized in that it further includes an industrial camera, a light source, a conveying component and a manipulator. The inside of the frame is a cavity. The conveying component horizontally penetrates the frame. There is a template for positioning workpieces on the above-mentioned conveying component. The above-mentioned industrial camera and light source are both fixedly connected inside the frame and both the industrial camera and the light source are located directly above the conveying component. The above-mentioned industrial camera can record the actual positioning position of the workpiece at the template. The above-mentioned manipulator can grab and correct the position of the workpiece at the template, and the workpiece with the corrected position can be re-placed at the template.

[0007] In the above-mentioned vision-guided calibration device, the industrial camera is connected to the top of the frame through an adjusting mechanism.

[0008] In the above-mentioned vision-guided calibration device, the adjusting mechanism includes a guide rod, a slider and a mounting seat. The above-mentioned guide rod is horizontally arranged and fixedly connected to the frame. The above-mentioned slider is fixedly connected to the side of the mounting seat and the slider is sleeved on the guide rod. The inside of the above-mentioned mounting seat is a cavity and the lower end is open. The above-mentioned industrial camera is fixedly connected inside the mounting seat and the shooting part of the industrial camera is located at the lower port of the mounting seat.

[0009] In the above-mentioned vision-guided calibration device, there is an opening and closing mechanism that can be opened and closed at the lower port of the mounting seat.

[0010] In the above visual guidance correction device, the opening and closing mechanism includes a cylinder, a baffle, and a guide plate. The cylinder is fixedly connected to the mounting seat. The guide plate is fixedly connected to the lower port of the mounting seat. The baffle is lapped on the guide plate. The inner end of the baffle is fixedly connected to the piston rod of the cylinder. The guide plate is located at the side of the industrial camera. In the initial state, the baffle is located at the side of the industrial camera. When the cylinder drives the baffle to translate along the guide plate, the baffle can move to directly below the industrial camera.

[0011] In the above visual guidance correction device, the cylinder and the baffle form an opening and closing unit. The number of the opening and closing units is two, and the two opening and closing units are symmetrically arranged on both sides of the mounting seat.

[0012] In the above visual guidance correction device, the light source includes a connecting rod and a lamp body. The connecting rod is horizontally arranged and is located between the industrial camera and the conveying assembly. The inner end of the connecting rod is fixedly connected to the inner side of the frame. The outer end of the connecting rod is fixedly connected to the lamp body.

[0013] In the above visual guidance correction device, the number of the light sources is several, and the several light sources are evenly distributed along the moving direction of the conveyor belt.

[0014] In the above visual guidance correction device, the conveying assembly includes a movable conveyor belt, and the template is fixedly connected to the conveyor belt.

[0015] In the above visual guidance correction device, several templates evenly distributed along the moving direction of the conveyor belt form a conveying unit. The number of the conveying units is several. There are light sources and industrial cameras in the frame that correspond to the conveying units one by one.

[0016] Compared with the prior art, in this visual guidance correction device, under the action of the light source, the industrial camera can accurately check the actual position of the workpiece on the template of the conveying assembly. After the actual position information of the workpiece is sent to the processor, the processor compares the actual position information of the workpiece with the set position information. If the comparison result is consistent, the manipulator does not move.

[0017] On the contrary, if the comparison result between the actual position of the workpiece and the set position information is inconsistent, the processor sends the corresponding action information of the manipulator. After the manipulator grabs the workpiece on the template and adjusts its position, it is then placed back at the template.

[0018] Of course, during the intermittent movement of the conveying assembly, the workpiece at each template can stably enter below the industrial camera, so as to ensure that each workpiece can be detected and processed. It can be seen that the above automated process can effectively improve the operation efficiency.

[0019] At the same time, the industrial camera, the light source, the manipulator, and the conveying assembly in this device are all located within the frame. Therefore, the overall structure of the device is relatively compact and has high practical value. Brief Description of the Drawings

[0020] Figure 1 is a schematic three-dimensional structure diagram of the present vision-guided calibration device.

[0021] Figure 2 is a schematic structure diagram at the industrial camera in the present vision-guided calibration device.

[0022] In the figure, 1 is an industrial camera; 2 is a lamp body; 3 is a conveyor belt; 3a is a template; 4 is a manipulator; 5 is a guide rod; 6 is a slider; 7 is a mounting seat; 8 is a cylinder; 9 is a baffle; 10 is a guide plate; 11 is a connecting rod; 12 is a frame. Detailed Embodiments

[0023] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0024] It should be noted that when a component is referred to as being "installed on" another component, it can be directly installed on the other component or there may also be an intermediate component. When a component is considered to be "disposed on" another component, it can be directly disposed on the other component or there may be an intermediate component at the same time. When a component is considered to be "fixed to" another component, it can be directly fixed to the other component or there may be an intermediate component at the same time.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present utility model belongs. The terms used herein in the description of the present utility model are only for the purpose of describing specific embodiments and are not intended to limit the present utility model. The term "or / and" used herein includes any and all combinations of one or more of the related listed items.

[0026] Such as Figure 1 and Figure 2As shown in the figure, the visual guidance correction device includes a frame 12, and also includes an industrial camera 1, a light source, a conveying component, and a manipulator 4. The interior of the frame 12 is a cavity. The conveying component horizontally penetrates the frame 12. There is a template 3a for positioning workpieces on the conveying component. The industrial camera 1 and the light source are both fixedly connected inside the frame 12, and both the industrial camera 1 and the light source are located directly above the conveying component. The industrial camera 1 can record the actual positioning position of the workpiece at the template. The manipulator 4 can grasp and correct the position of the workpiece at the template 3a, and the workpiece at the corrected position can be re-placed at the template 3a.

[0027] Under the action of the light source, the template 3a at the conveying component can be fully illuminated, and the industrial camera 1 can clearly and accurately capture the actual position information of the workpiece.

[0028] The actually captured position information of the workpiece is transmitted to the processor. The processor stores the set workpiece position information. The processor compares the actual workpiece position information with the set position information, and there are two results after the comparison.

[0029] First, the comparison information is consistent. At this time, the processor 4 does not send a signal to the manipulator, and the manipulator 4 does not act.

[0030] Second, the comparison information is inconsistent. At this time, the processor generates process information for controlling the manipulator 4 to perform corresponding actions. After the above process information is received by the manipulator 4, after the manipulator 4 performs corresponding actions, the position of the workpiece on the template 3a is corrected to be consistent with the set workpiece position information.

[0031] The logic control part of the processor is prior art, and the corresponding actions made by the manipulator 4 after receiving the corresponding process information are also prior art. Therefore, the specific technical solutions are not described in detail in the specification. What this patent application needs to solve is how to stably detect the actual position information of the workpiece at the template.

[0032] The industrial camera 1 is connected to the top of the frame 12 through an adjustment mechanism.

[0033] The adjustment mechanism includes a guide rod 5, a slider 6, and a mounting seat 7. The guide rod 5 is horizontally arranged and fixedly connected to the frame 12. The slider 6 is fixedly connected to the side of the mounting seat 7 and the slider 6 is sleeved on the guide rod 5. The interior of the mounting seat 7 is a cavity and the lower end is open. The industrial camera 1 is fixedly connected inside the mounting seat 7 and the shooting part of the industrial camera 1 is located at the lower port of the mounting seat 7.

[0034] The slider 6 is connected to the guide rod 5, and at the same time the slider 6 is fixedly connected to the mounting seat 7. Finally, the mounting seat 7 can be translated along the guide rod 5. The industrial camera 1 is located inside the mounting seat 7. Finally, the position of the industrial camera 1 can be changed according to the actual situation, appropriately improving the applicability of the entire device.

[0035] Of course, the shooting part of the industrial camera 1 is located at the lower port of the mounting base 7, which can ensure that the industrial camera 1 can not only shoot normally, but also avoid impurities or dust from entering the industrial camera 1 as much as possible.

[0036] The lower port of the mounting base 7 is provided with an opening and closing mechanism that can be opened and closed.

[0037] When the device stops, the opening and closing mechanism closes, which can prevent the industrial camera 1 from being exposed.

[0038] The opening and closing mechanism includes a cylinder 8, a baffle 9 and a guide plate 10. The cylinder 8 is fixedly connected to the mounting base 7, the guide plate 10 is fixedly connected to the lower port of the mounting base 7, the baffle 9 is lapped on the guide plate 10, the inner end of the baffle 9 is fixedly connected to the piston rod of the cylinder 8, the guide plate 10 is located at the side of the industrial camera 1. In the initial state, the baffle 9 is located at the side of the industrial camera 1. When the cylinder 8 drives the baffle 9 to translate along the guide plate 10, the baffle 9 can move to directly below the industrial camera 1.

[0039] The guide plate 10 plays a guiding role for the baffle. When the cylinder 8 drives the baffle 9 to move, the baffle 9 can translate stably under the action of the guide plate 10.

[0040] In the initial state, since the baffle 9 does not block the industrial camera 1, the industrial camera 1 can operate normally.

[0041] When the baffle 9 extends into the lower part of the industrial camera 1, the industrial camera 1 is blocked. Of course, at this time, the entire device is in a stopped state.

[0042] The cylinder 8 and the baffle 9 form an opening and closing unit. The number of the opening and closing units is two, and the two opening and closing units are symmetrically arranged on both sides of the mounting base 7.

[0043] The setting of the two opening and closing units can reduce the moving stroke of the baffle 9 and appropriately improve its stability.

[0044] The light source includes a connecting rod 11 and a lamp body 2. The connecting rod 11 is arranged horizontally and is located between the industrial camera 1 and the conveying assembly. The inner end of the connecting rod 11 is fixedly connected to the inner side of the frame 12, and the outer end of the connecting rod 11 is fixedly connected to the lamp body 2.

[0045] Under the action of the connecting rod 11, the lamp body 2 can be made as adjacent to the industrial camera 1 as possible. When the industrial camera 1 operates, stable illumination can be provided through the lamp body 2.

[0046] The number of the light sources is several, and several light sources are evenly arranged along the moving direction of the conveyor belt.

[0047] The setting of multiple light sources can further improve the lighting effect of the working environment of the industrial camera.

[0048] The conveying assembly includes a movable conveyor belt 3, and the above-mentioned template 3a is fixedly connected to the conveyor belt 3.

[0049] On the frame 12, there are a driving roller and a driven roller. The driving roller is used to connect with a driving member. During the continuous rotation of the driving roller driven by the driving member, the conveyor belt 3 sleeved on the driving roller and the driven roller can move smoothly.

[0050] A number of templates 3a evenly distributed along the moving direction of the conveyor belt 3 on the conveyor belt 3 form a conveying unit. The number of the conveying units is several. Inside the frame 12, there are a light source and an industrial camera 1 corresponding to each conveying unit one by one.

[0051] The setting of multiple conveying units can effectively improve the detection operation efficiency of the entire device.

[0052] The workpiece is placed at the template 3a of the conveying assembly, and the conveyor belt 3 moves intermittently to convey the workpiece orderly.

[0053] Whenever the conveyor belt 3 stops moving, the template 3a on the conveyor belt 3 is exactly located directly below the industrial camera 1. Under the action of the light source, the industrial camera 1 clearly captures the actual position information of the workpiece at the template 3a.

[0054] After the actual position information of the above-mentioned workpiece is sent to the processor, the processor compares the actual position information of the workpiece with the set position information. If the comparison result is consistent, the manipulator does not move.

[0055] On the contrary, if the comparison result of the actual position of the workpiece and the set position information is inconsistent, the processor sends the corresponding action information of the manipulator. After the workpiece on the template is grasped by the manipulator and its position is adjusted, it is then placed back at the template.

[0056] It can be seen that the above-mentioned automated process can effectively improve the operation efficiency.

[0057] The technical features of the above-mentioned embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0058] Those of ordinary skill in the art in this technical field should recognize that the above embodiments are only used to illustrate the present invention, rather than to limit the present invention. As long as appropriate changes and variations are made to the above embodiments within the spirit of the present invention, they fall within the scope of protection required by the present invention.

Claims

1. A visually guided calibration device, comprising a frame (12), characterized in that: The invention also comprises an industrial camera (1), a light source, a conveying assembly and a manipulator (4); the interior of the frame (12) is a cavity; the conveying assembly is transversely arranged through the frame (12); the conveying assembly has a template (3a) for positioning a workpiece; the industrial camera (1) and the light source are both fixedly connected to the frame (12) and are located directly above the conveying assembly; the industrial camera (1) can record the actual positioning position of the workpiece at the template (3a); the manipulator (4) can grab the workpiece at the template (3a) and correct the position; and the workpiece whose position has been corrected can be put back into the template (3a).

2. The visual guidance correction device according to claim 1, characterized in that: The industrial camera (1) is connected to the top of the frame (12) via an adjustment mechanism.

3. The visual guidance correction device according to claim 2, characterized in that: The adjustment mechanism comprises a guide rod (5), a slider (6) and a mounting seat (7); the guide rod (5) is arranged transversely and fixedly connected to the frame (12); the slider (6) is fixedly connected to the side of the mounting seat (7) and the slider (6) is sleeved on the guide rod (5); the mounting seat (7) is hollow inside and open at the lower end; the industrial camera (1) is fixedly connected to the mounting seat (7) and the shooting part of the industrial camera (1) is located at the lower end of the mounting seat (7).

4. The visual guidance correction device according to claim 3, characterized in that: The lower port of the mounting seat (7) is provided with an opening and closing mechanism which can be opened and closed.

5. The visual guidance correction device according to claim 4, characterized in that: The opening and closing mechanism comprises a cylinder (8), a baffle (9) and a guide plate (10); the cylinder (8) is fixedly connected to the mounting seat (7); the guide plate (10) is fixedly connected to the lower end of the mounting seat (7); the baffle (9) is overlapped on the guide plate (10); the inner end of the baffle (9) is fixedly connected to the piston rod of the cylinder (8); the guide plate (10) is located at the side of the industrial camera; in an initial state, the baffle (9) is located at the side of the industrial camera (1); when the cylinder (8) drives the baffle (9) to translate along the guide plate (10), the baffle (9) can move to the bottom of the industrial camera.

6. The visual guidance correction device according to claim 5, characterized in that: The cylinder (8) and the baffle (9) form an opening and closing unit, and the number of the opening and closing units is two and the two opening and closing units are symmetrically arranged on both sides of the mounting seat (7).

7. The visual guidance correction device according to claim 6, characterized in that: The light source comprises a connecting rod (11) and a lamp body (2); the connecting rod (11) is arranged transversely and is located between the industrial camera (1) and the conveying assembly; the inner end of the connecting rod (11) is fixedly connected to the inner side of the frame (12); and the outer end of the connecting rod (11) is fixedly connected to the lamp body (2).

8. The visual guidance correction device according to claim 7, characterized in that: The number of the light sources is several, and the several light sources are evenly distributed along the moving direction of the conveyor belt (3).

9. The visual guidance correction device according to claim 8, characterized in that: The conveying assembly comprises a movable conveying belt (3), and the template (3a) is fixedly connected to the conveying belt (3).

10. The visual guidance correction device according to claim 9, characterized in that: A plurality of templates (3a) evenly distributed on the conveyor belt (3) along its moving direction form a conveying unit, the number of the conveying units is several, and the frame (12) has light sources and industrial cameras (1) corresponding to the conveying units one by one.

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