Workpiece data acquisition device

Abstract

According to the workpiece data acquisition device, when appearance data of a single element needs to be acquired, after appearance data outside the bottom surface of a workpiece is acquired by rotating an object placing table, the workpiece is clamped by a clamp, and the clamp is driven to rotate by a third driving device, so that the workpiece is overturned, and the appearance data of the bottom surface of the workpiece is acquired; when data of workpieces in a stacked state needs to be acquired, the clamp is in transmission connection with the material turning device, and the material turning device is driven by the third driving device to turn over the workpieces in the material frame, so that the problem of low efficiency caused by manual turning is avoided, the automation degree of data acquisition is improved, and the working efficiency is improved. A large number of deep learning data samples are provided for instance segmentation and pose estimation of stacked workpieces.

Description

Technical Field

[0001] The utility model relates to the field of automation technology, in particular to a workpiece data acquisition device. Background Art

[0002] In today's intelligent industrial manufacturing and research fields, accurate visual data collection of workpieces is the key to achieving object pose estimation and instance segmentation algorithm training.

[0003] When collecting data on the bottom surface of a single workpiece, it is usually necessary to manually flip the workpiece, which is not only inefficient but may also affect the integrity of the data. When collecting 3D data on stacked workpieces, the method of manually flipping and adjusting the workpiece pose is limited in efficiency and thoroughness, especially in deep learning algorithm training scenarios that require a large amount of sample data. This process is particularly cumbersome and time-consuming. Utility Model Content

[0004] The utility model aims to provide a workpiece data acquisition device, aiming to improve the automation degree of data acquisition.

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

[0006] A workpiece data acquisition device comprises a base and further comprises:

[0007] A storage table, used for placing workpieces, the storage table being rotatably connected to the base;

[0008] A clamping device is located on both sides of the storage table, and the clamping device includes a slide and a clamping part. The slide is movably adapted to the base. The base is provided with a first driving device, and the output end of the first driving device is connected to the slide, so that the two slides can move relative to the base to clamp the workpiece; the slide is provided with a second driving device, and the output end of the second driving device is connected to the clamping part, so that the clamping part can be lifted and lowered relative to the slide; the clamping part includes a third driving device and a clamp that is transmission-connected to the output end of the third driving device, and is used to drive the clamp to rotate;

[0009] A support frame, pivotally connected to the base, the support frame is provided with a data acquisition device, the data acquisition device faces the workpiece and is used to obtain the shape data and posture of the workpiece; and

[0010] The material frame is used to place a plurality of components whose shape data have been obtained respectively. The material frame can be detachably mounted on the base. The material frame is provided with a turning device for turning over the plurality of components. The clamp can be transmission-connected to the turning device.

[0011] Further, the clamping portion includes a fixing plate, one side of the fixing plate is fixedly connected with the third driving device, the other side of the fixing plate is movably connected with the fixture, and the output end of the third driving device passes through the fixing plate and is connected to the fixture.

[0012] Further, the sliding seat is provided with a plurality of guide posts, and the fixing plate is provided with guide holes slidably adapted to the guide posts.

[0013] Further, the fixture is a matrix type flexible chuck.

[0014] Further, the data acquisition device includes a three-dimensional scanner and cameras located on both sides of the three-dimensional scanner.

[0015] Further, the base is provided with two relatively arranged limit blocks, a guide rail is arranged between the two limit blocks, and the sliding seat is slidably adapted to the guide rail.

[0016] Further, the workpiece turning device includes a dial rod, and connecting rods are arranged at both ends of the dial rod; it further includes a knob passing through the material frame, one end of the knob is connected to the connecting rod, and the other end of the knob can be drivingly connected to the fixture.

[0017] Further, the bottom surface of the material frame is an arc surface adapted to the movement path of the dial rod.

[0018] Further, the base is provided with a positioning block for clamping the material frame.

[0019] Further, the base is provided with a fourth driving device, and the output end of the fourth driving device is connected to one end of the support frame pivotally connected to the base.

[0020] The beneficial effects of the present utility model are as follows:

[0021] 1. For a workpiece data acquisition device proposed by the present utility model, when it is necessary to obtain the external shape data of a single component, by rotating the placement table, after obtaining the external shape data outside the bottom surface of the workpiece, the workpiece is clamped by the fixture, and the fixture is driven to rotate by the third driving device, so as to turn the workpiece, thereby obtaining the external shape data of the bottom surface of the workpiece; when it is necessary to obtain the data of workpieces in a stacked state, the fixture is drivingly connected to the workpiece turning device, and the third driving device is used to drive the workpiece turning device to turn the workpieces in the material frame, avoiding the problem of low efficiency caused by manual turning, thereby improving the automation degree of data acquisition and providing a large number of deep learning data samples for the instance segmentation and pose estimation of stacked workpieces.

[0022] 2. For a workpiece data acquisition device proposed by the present utility model, the fixture is a matrix type flexible chuck, which is suitable for various workpiece shapes and sizes, and expands the types of workpieces that the clamping device can clamp.

[0023] 3. A workpiece data acquisition device proposed by the present utility model, wherein the bottom surface of the material frame is an arc surface adapted to the movement path of the dial rod, ensuring that all components in the material frame can be flipped by the dial rod.

[0024] 4. A workpiece data acquisition device proposed by the present utility model, wherein the base is provided with positioning blocks for clamping the material frame, facilitating the rapid installation of the material frame on the base. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the utility model or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the utility model. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0026] Figure 1 It is a schematic diagram of a workpiece data acquisition device of the present utility model;

[0027] Figure 2 It is a schematic diagram of the placement table of a workpiece data acquisition device of the present utility model;

[0028] Figure 3 It is a schematic diagram of the clamping device of a workpiece data acquisition device of the present utility model;

[0029] Figure 4 It is a schematic diagram of the material frame of a workpiece data acquisition device of the present utility model;

[0030] Figure 5 It is a schematic diagram of the material turning device of a workpiece data acquisition device of the present utility model;

[0031] In the figure, 10. Base; 101. Limit block; 102. Guide rail; 103. Positioning block; 20. Placement table; 301. Slide seat; 302. Guide post; 40. Clamping part; 401. Fixture; 402. Fixed plate; 50. Support frame; 60. Material frame; 701. 3D scanner; 702. Camera; 80. Dial rod; 8011. First dial plate; 8012. Second dial plate; 802. Connecting rod; 803. Knob; 901. First driving device; 902. Second driving device; 903. Third driving device; 904. Fourth driving device; 905. Fifth driving device. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] The following will be combined with Figures 1-5 to describe the present utility model in detail.

[0033] The workpiece data acquisition device proposed in the utility model is intended to provide a large number of deep learning data samples for the pose estimation of a single component in a stacked workpiece. Specifically, the shape data of a single workpiece and a large amount of workpiece stacking data are first obtained, and the workpiece stacking data is used as input to train the deep learning algorithm to achieve instance segmentation of the stacked workpieces. The three-dimensional data of a single workpiece is then used as a template to estimate the pose of the workpiece segmented from the stacked workpieces based on this template, and finally the workpiece is grasped according to the estimated pose. This technology can be applied to industries such as classification, packaging, and boxing.

[0034] A workpiece data acquisition device includes a base 10, a storage table 20, a clamping device, a support frame 50 and a material frame 60. The position relationship and function of each component are as follows:

[0035] The storage table 20 is used to place the workpiece, and the storage table 20 is rotatably connected to the base 10;

[0036] The clamping device is located on both sides of the storage table 20. The clamping device includes a slide 301 and a clamping part 40. The slide 301 is movably adapted to the base 10. The base 10 is provided with a first driving device 901. The output end of the first driving device 901 is connected to the slide 301, so that the two slides 301 can move relative to the base 10 to clamp the workpiece; the slide 301 is provided with a second driving device 902. The output end of the second driving device 902 is connected to the clamping part 40, so that the clamping part 40 can be lifted and lowered relative to the slide 301; the clamping part 40 includes a third driving device 903 and a clamp 401 that is transmission-connected to the output end of the third driving device 903, and is used to drive the clamp 401 to rotate;

[0037] A support frame 50 is pivotally connected to the base 10. The support frame 50 is provided with a data acquisition device, which faces the workpiece and is used to obtain the shape data and posture of the workpiece; and

[0038] The material frame 60 is used to place a plurality of components whose shape data have been obtained respectively. The material frame 60 can be detachably mounted on the base 10. The material frame 60 is provided with a turning device for turning over a plurality of components. The clamp 401 can be transmission-connected to the turning device.

[0039] In actual use, when it is necessary to obtain the shape data of a single component, the placement table 20 is rotated to obtain the shape data outside the bottom surface of the workpiece, and then the workpiece is clamped by the clamp 401, and the clamp 401 is driven to rotate by the third drive device 903, so as to flip the workpiece and obtain the shape data of the bottom surface of the workpiece; when it is necessary to obtain components in a stacked state, the clamp 401 is connected to the turning device through transmission, and the turning device is driven by the third drive device 903 to turn the workpiece in the material frame 60, so as to avoid the problem of inefficiency caused by manual turning, thereby providing a high degree of automation in data collection.

[0040] In this embodiment, the clamping part 40 includes a fixing plate 402. A third driving device 903 is fixedly connected to one side of the fixing plate 402. A fixture 401 is movably connected to the other side of the fixing plate 402. The output end of the third driving device 903 passes through the fixing plate 402 and is connected to the fixture 401. The sliding seat 301 is provided with a plurality of guide posts 302, and the fixing plate 402 is provided with guide holes that are slidably adapted to the guide posts 302, so as to prevent the fixing plate from shaking during the lifting process. Further, the fixture 401 is a matrix-type flexible chuck, which is suitable for various workpiece shapes and sizes, and expands the types of workpieces that the clamping device can clamp.

[0041] In this embodiment, the data acquisition device includes a three-dimensional scanner 701 and cameras 702 located on both sides of the three-dimensional scanner 701. The three-dimensional scanner 701 is used to obtain the three-dimensional coordinate data of the component, and the cameras 702 are used to obtain the two-dimensional image information of the component.

[0042] In this embodiment, the base 10 is provided with two oppositely arranged limit blocks 101. A guide rail 102 is arranged between the two limit blocks 101, and the sliding seat 301 is slidably adapted to the guide rail 102. Specifically, the sliding seat 301 is located outside the limit blocks 101. On the one hand, the limit blocks 101 play a role in fixing the guide rail 102. On the other hand, the limit blocks 101 prevent the sliding seat 301 from moving excessively and squeezing the workpiece, thereby playing a limiting role on the sliding seat 301.

[0043] In this embodiment, the material turning device includes a lever 80, and connecting rods 802 are provided at both ends of the lever 80; it also includes a knob 803 passing through the material frame 60. One end of the knob 803 is connected to the connecting rod 802, and the other end of the knob 803 is drivably connected to the fixture 401. Among them, the lever 80 includes a first dial plate 8011 and a second dial plate 8012 that are perpendicularly connected to each other. It can be understood that the first dial plate 8011 and the second dial plate 8012 may also be non-perpendicularly connected. The other end of the knob 803 protrudes from the outer surface of the material frame 60, so that the fixture 401 can clamp the knob 803, and thus the lever 80 is driven to rotate by the third driving device 903, thereby turning the workpieces in the material frame 60. At the same time, to ensure that all the components in the material frame 60 can be turned by the lever 80, the bottom surface of the material frame 60 is an arc surface adapted to the movement path of the lever 80.

[0044] In this embodiment, the base 10 is provided with a positioning block 103 for clamping the material frame 60, which is convenient for quickly installing the material frame 60 on the base 10.

[0045] In this embodiment, the base 10 is provided with a fourth driving device 904, and the output end of the fourth driving device 904 is connected to one end of the support frame 50 pivotally connected to the base 10. Specifically, the output end of the fourth driving device 904 is connected to the support frame 50 through belt drive. It can be understood that the output end of the fourth driving device 904 can also be connected to the support frame 50 through chain drive or other drive modes. The base 10 is further provided with a fifth driving device 905, and the output end of the fifth driving device 905 is connected to the placement table 20 for rotating the placement table 20 to rotate the workpiece.

[0046] An operation process of a workpiece data acquisition device proposed by the present utility model is as follows:

[0047] Obtaining the contour data of a single workpiece:

[0048] First, place a single workpiece on the placement table 20, and drive the support frame 50 through the fourth driving device 904 to drive the 3D scanner 701 to perform 3D scanning around the workpiece, so as to obtain the contour data; at the same time, cooperate with the rotation of the placement table 20 to collect the contour data of the workpiece at different angles.

[0049] Then, drive the two clamping devices to approach the placement table 20 through the first driving device 901, so that the fixture 401 clamps the workpiece; drive the fixing plate 402 to lift through the second driving device 902 to lift the clamped workpiece; rotate the fixture 401 through the third driving device 903, so that the bottom surface of the workpiece is no longer facing downwards, which is convenient for the 3D scanner 701 to perform scanning again to collect the bottom data.

[0050] So far, the acquisition of the contour data of a single workpiece is completed.

[0051] Obtaining the contour data of several workpieces in a stacked state:

[0052] Place several workpieces in the material frame 60, drive the two clamping devices to approach the placement table 20 through the first driving device 901, so that the fixture 401 clamps the knob 803; rotate the fixture 401 through the third driving device 903, thereby driving the lever 80 to turn over the workpiece, and at the same time drive the support frame 50 through the fourth driving device 904 to drive the 3D scanner 701 to perform 3D scanning around the workpiece, so as to obtain the contour data of the stacked workpieces.

[0053] The above embodiments are only used to illustrate the technical concept and features of the present utility model, and the purpose is to enable those skilled in the art to understand the content of the present utility model and implement it, and it cannot be used to limit the protection scope of the present utility model. Any equivalent changes or modifications made according to the spirit and essence of the present utility model should be covered within the protection scope of the present utility model.

Claims

1. A workpiece data acquisition device, comprising a base, characterized in that: Also includes: A storage table, used for placing workpieces, the storage table being rotatably connected to the base; A clamping device is located on both sides of the storage table, and the clamping device includes a slide and a clamping part. The slide is movably adapted to the base. The base is provided with a first driving device, and the output end of the first driving device is connected to the slide, so that the two slides can move relative to the base to clamp the workpiece; the slide is provided with a second driving device, and the output end of the second driving device is connected to the clamping part, so that the clamping part can be lifted and lowered relative to the slide; the clamping part includes a third driving device and a clamp that is transmission-connected to the output end of the third driving device, and is used to drive the clamp to rotate; A support frame, pivotally connected to the base, the support frame is provided with a data acquisition device, the data acquisition device faces the workpiece and is used to obtain the shape data and posture of the workpiece; as well as The material frame is used to place a plurality of components whose shape data have been obtained respectively. The material frame can be detachably mounted on the base. The material frame is provided with a turning device for turning over the plurality of components. The clamp can be transmission-connected to the turning device.

2. A workpiece data acquisition device as claimed in claim 1, characterized in that: The clamping portion includes a fixing plate, one side of the fixing plate is fixedly connected to the third driving device, the other side of the fixing plate is movably connected to the clamp, and the output end of the third driving device is connected to the clamp after passing through the fixing plate.

3. A workpiece data acquisition device as claimed in claim 2, characterized in that: The slide seat is provided with a plurality of guide posts, and the fixing plate is provided with guide holes slidably adapted to the guide posts.

4. A workpiece data acquisition device as claimed in claim 2, characterized in that: The clamp is a matrix type flexible clamp.

5. A workpiece data acquisition device as claimed in claim 1, characterized in that: The data acquisition device includes a three-dimensional scanner and cameras located on both sides of the three-dimensional scanner.

6. A workpiece data acquisition device as claimed in claim 1, characterized in that: The base is provided with two limiting blocks which are arranged opposite to each other, a guide rail is arranged between the two limiting blocks, and the slide seat is slidably adapted to the guide rail.

7. A workpiece data acquisition device as claimed in claim 1, characterized in that: The material turning device includes a lever, and connecting rods are arranged at both ends of the lever; it also includes a knob penetrating the material frame, one end of the knob is connected to the connecting rod, and the other end of the knob can be transmission-connected to the clamp.

8. A workpiece data acquisition device as claimed in claim 7, characterized in that: The bottom surface of the material frame is a curved surface adapted to the movement path of the lever.

9. A workpiece data acquisition device as claimed in claim 1, characterized in that: The base is provided with a positioning block for clamping the material frame.

10. A workpiece data acquisition device as claimed in claim 1, characterized in that: The base is provided with a fourth driving device, and the output end of the fourth driving device is connected to one end of the support frame pivotally connected to the base.

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