Feeding device based on image recognition

Abstract

The utility model discloses a feeding device based on image recognition, and belongs to the technical field of powder metallurgy. The device is characterized by comprising a belt type conveying mechanism, a visual sensor, a turnover mechanism, a stepping beam type conveying mechanism, a manipulator and a controller. The visual sensor is used for carrying out image acquisition and processing on the workpieces entering the belt type conveying mechanism and transmitting analyzed data to the controller; and the controller controls the manipulator to grab the workpiece and transfer the workpiece to the turnover mechanism (the reverse side of the workpiece faces upwards) or to the walking beam type conveying mechanism (the front side of the workpiece faces upwards) according to an instruction. According to the utility model, the visual sensor is adopted to carry out image identification and processing on the workpiece and carry out front and back identification, so that the labor cost is reduced, and the missed detection and error detection risks are reduced; the manipulator and the turnover mechanism are combined, grabbing is convenient and fast, and the front face, the back face and the placing angle of a workpiece are convenient to adjust; the powder metallurgy workpiece shaping device is simple and reasonable in structure and easy to produce and manufacture, and effectively improves shaping efficiency and accuracy of powder metallurgy workpieces.

Description

Technical Field

[0001] The utility model relates to a feeding device based on image recognition, belonging to the technical field of powder metallurgy. Background Art

[0002] Powder metallurgy workpieces will deform after sintering, which will cause changes and errors in the size of the blanks and cannot meet the process requirements of some precision mechanical assembly. Therefore, a shaping mechanism is needed to improve the workpiece accuracy.

[0003] At present, most powder metallurgy workpieces have front and back sides. Before entering the shaping mechanism, the workpiece needs to be aligned with the orientation and placement angle of the front and back sides according to the cavity conditions. In traditional technology, the front and back sides of the workpiece are generally identified manually and the workpiece is flipped and straightened manually. The efficiency of manual identification is very low and it is easy to miss or misdetect, and there are certain safety hazards. Utility Model Content

[0004] The purpose of the utility model is to provide a feeding device based on image recognition to address the deficiencies of the above-mentioned prior art. Before the powder metallurgy workpiece enters the shaping machine, the workpiece is firstly subjected to image recognition and processing, and then the workpiece is correctly placed and fed into the shaping machine, thereby improving work efficiency and accuracy.

[0005] The technical solution of the utility model is as follows: a feeding device based on image recognition, characterized in that it includes: a belt conveying mechanism, a visual sensor, a flipping mechanism, a walking beam conveying mechanism, a manipulator and a controller.

[0006] The belt conveyor mechanism is used to convey the workpiece to be identified and serves as the input end of the entire device; the visual sensor is located above the belt conveyor mechanism and is used to collect and process images of the workpiece; the walking beam conveyor mechanism is used to convey the workpiece that has been identified and correctly placed; the flipping mechanism is located between the belt conveyor mechanism and the walking beam conveyor mechanism and is used to flip the workpiece with the reverse side facing up and place it on the walking beam conveyor mechanism; the manipulator is used to transfer the workpiece from the belt conveyor mechanism to the walking beam conveyor mechanism or the flipping mechanism; the controller has its input end connected to the visual sensor and its output end connected to the manipulator and the flipping mechanism.

[0007] In the above scheme, the visual sensor collects and processes the image of the workpiece entering the belt conveyor mechanism, and transmits the analyzed data to the controller; the controller controls the robot arm to grab the workpiece and transfer it to the flipping mechanism (if the back of the workpiece is facing up), or transfer it to the walking beam conveyor mechanism (if the front of the workpiece is facing up) according to the instructions; at the same time, the robot arm can also rotate the workpiece to the correct placement angle, ensuring that the workpiece on the walking beam conveyor mechanism is facing up and at the correct placement angle, and finally transported to the shaping mechanism by the walking beam conveyor mechanism.

[0008] Further, the flipping mechanism includes: a rotary cylinder, a connecting member, a pneumatic gripper, and a pair of inner chucks. The rotary cylinder is installed between the two conveying mechanisms. The middle of the connecting member is connected to the rotating shaft of the rotary cylinder. The pneumatic gripper is installed on the connecting member. The inner chucks are arranged in pairs and are respectively installed on a pair of sliders of the pneumatic gripper.

[0009] In the above solution, a pair of inner chucks cooperate with the central hole of the workpiece to tension and support the workpiece. Under the action of the pneumatic gripper, a pair of sliders are driven to drive a pair of inner chucks to move away from or towards each other to clamp or release the workpiece. In the initial state, the inner chucks face upward. The manipulator places the workpiece with the reverse side facing upward on the inner chucks. The inner chucks clamp the workpiece. Under the action of the rotary cylinder, the inner chucks are rotated by 180°, realizing a 180° flip of the workpiece. After the workpiece faces upward, it is placed at the input end of the walking beam type conveying mechanism.

[0010] Further, the connecting member is U-shaped; there are two pneumatic grippers, which are symmetrically installed on the two side walls of the U-shaped connecting member respectively; there are two pairs of chucks, which are respectively corresponding to and connected to the sliders of the two pneumatic grippers one by one, and the orientations of the two pairs of chucks are opposite, one facing upward and one facing downward, realizing alternating work.

[0011] Further, the manipulator adopts a four-axis manipulator, and a pneumatic gripper is also installed at the lower end. A pair of outer chucks are installed on the two sliders of the pneumatic gripper. A stepped surface is provided on the inner wall of the outer chucks. The pneumatic gripper drives the pair of outer chucks to move towards or away from each other to cooperate with the outer side wall of the workpiece to clamp or release the workpiece.

[0012] Further, a calibration cylinder is provided at the input end of the walking beam type conveying mechanism; the output shaft of the calibration cylinder is arranged vertically downward, and a calibration column matching the process hole of the workpiece is installed on the output shaft of the calibration cylinder. After the workpiece is placed at the input end of the walking beam type conveying mechanism, the calibration cylinder drives the calibration column to press vertically downward. If the calibration column can be inserted into the corresponding process hole of the workpiece, it is verified again that the workpiece is in the correct placement angle and the front side is facing upward.

[0013] Further, the calibration cylinder is provided with an adjusting frame; the adjusting frame includes a vertical plate and a horizontal plate. A waist-shaped hole is provided on the vertical plate, and a waist-shaped hole is provided on the horizontal plate; the vertical plate is fixed to the walking beam type conveying mechanism, the horizontal plate is installed at the waist-shaped hole of the vertical plate through bolts, and the calibration cylinder is installed at the waist-shaped hole of the horizontal plate through bolts. By providing waist-shaped holes on the horizontal plate and the vertical plate, the installation position of the calibration cylinder can be conveniently adjusted.

[0014] Furthermore, the entire device is also provided with a cabinet body, including an upper cabinet and a lower cabinet; the controller is located inside the lower cabinet, and a heat dissipation structure is also provided on the side wall of the lower cabinet; two conveying mechanisms are located on the workbench between the upper and lower cabinets, the manipulator is installed in the upper cabinet, and a display connected to the controller is also suspended in the upper cabinet for displaying the images collected by the vision sensor.

[0015] The utility model uses a vision sensor to perform image recognition and processing on workpieces, automatically recognizes the front and back sides of workpieces, reduces labor costs, and reduces the risks of missed inspection and misinspection; combines a manipulator and a flipping mechanism, which is convenient and fast for grasping, and is convenient for adjusting the front and back sides and placement angles of workpieces; the structure of the utility model is simple and reasonable, easy to manufacture, and effectively improves the shaping efficiency and accuracy of powder metallurgy workpieces. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic structural diagram of the utility model;

[0017] Figure 2 is a schematic structural diagram of the utility model (removing the cabinet body);

[0018] Figure 3 is a schematic internal structural diagram of the lower cabinet of the utility model;

[0019] Figure 4 is a schematic structural diagram of the flipping mechanism of the utility model;

[0020] Figure 5 is a schematic structural diagram of the calibration cylinder of the utility model;

[0021] Figure 6 is a schematic structural diagram of the pneumatic gripper at the manipulator of the utility model;

[0022] In the figure: belt conveyor mechanism 1, vision sensor 2, flipping mechanism 3, rotary cylinder 3-1, U-shaped connecting piece 3-2, pneumatic gripper 3-3, inner clamping jaw 3-4, walking beam conveyor mechanism 4, manipulator 5, pneumatic gripper 5-1, outer clamping jaw 5-2, stepped surface 5-3, controller 6, upper cabinet 7-1, lower cabinet 7-2, heat dissipation structure 7-3, display 8, calibration cylinder 9, calibration column 9-1, adjusting frame 10, vertical plate 10-1, horizontal plate 10-2, waist-shaped hole 10-3, workpiece 11. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] A feeding device based on image recognition, as Figure 2As shown in the figure, it includes a belt conveyor mechanism 1, a vision sensor 2, a flipping mechanism 3, a walking beam conveyor mechanism 4, a manipulator 5 and a controller 6. After the vision sensor collects and processes the images of the workpieces entering the belt conveyor mechanism, the controller controls the manipulator to grab the workpieces according to the instructions and transfer them to the flipping mechanism (with the workpiece facing upwards) or to the walking beam conveyor mechanism (with the workpiece facing downwards). At the same time, the manipulator adopts a four-axis manipulator, which can rotate the workpiece to the correct placement angle to ensure the shaping accuracy rate and efficiency.

[0024] In an embodiment of the present utility model, as Figure 1 , Figure 3 shown, there is a cabinet body, including an upper cabinet 7-1 and a lower cabinet 7-2. The controller 6 is located inside the lower cabinet, and a heat dissipation structure 7-3 is provided on the side wall of the lower cabinet; the two conveyor mechanisms are located on the workbench between the upper and lower cabinets, and the manipulator 5 is installed on the upper cabinet. A display 8 connected to the controller is also hung on the upper cabinet, which is used to display the images collected by the vision sensor.

[0025] In an embodiment of the present utility model, as Figure 4 shown, the flipping mechanism 3 includes: a rotating cylinder 3-1, a U-shaped connecting piece 3-2, a pair of pneumatic grippers 3-3 and two pairs of inner grippers 3-4. The rotating cylinder is installed between the two conveyor mechanisms. The middle part of the U-shaped connecting piece is connected to the rotating shaft of the rotating cylinder. A pair of pneumatic grippers are symmetrically installed on the two side walls of the U-shaped connecting piece respectively. The two pairs of inner grippers are respectively corresponding and connected to the sliders of the two pneumatic grippers, and the orientations of the two pairs of grippers are opposite, one facing upwards and one facing downwards, to achieve alternating work. A pair of inner grippers cooperate with the central hole of the workpiece. Under the action of the pneumatic grippers, the pair of sliders are driven to drive the pair of inner grippers to move away from or towards each other to clamp or release the workpiece.

[0026] In the initial state, the pair of inner grippers close to the belt conveyor mechanism face upwards, and the pair of inner grippers close to the walking beam conveyor mechanism face downwards. The manipulator places the workpiece with the reverse side facing upwards on the pair of inner grippers facing upwards. The pneumatic grippers drive the inner grippers to clamp the workpiece, and then under the action of the rotating cylinder, the pair of inner grippers facing upwards are rotated by 180° to make the workpiece face upwards, and then placed at the input end of the walking beam conveyor mechanism.

[0027] In an embodiment of the present utility model, a pneumatic gripper 5-1 is installed at the lower end of the manipulator 5. A pair of outer grippers 5-2 are installed on the two sliders of the pneumatic gripper. A step surface 5-3 matching the outer side wall of the workpiece is provided on the inner wall of the outer gripper; the pneumatic gripper drives the pair of outer grippers to move towards or away from each other to clamp or release the workpiece, and transfers the workpiece to the flipping mechanism or the walking beam conveyor mechanism.

[0028] In an embodiment of the present utility model, the calibration cylinder 9 is installed at the input end of the walking beam type conveying mechanism through the adjusting frame 10. The output shaft of the calibration cylinder is arranged vertically downward, and a calibration column 9-1 matching the process hole of the workpiece is installed on the output shaft of the calibration cylinder to verify whether the workpiece is at the correct placement angle and with the front side facing up. The adjusting frame 10 includes a vertical plate 10-1 and a horizontal plate 10-2. Both the vertical plate and the horizontal plate are provided with waist-shaped holes 10-3. The vertical plate is fixed to the walking beam type conveying mechanism, the horizontal plate is installed at the waist-shaped hole of the vertical plate through bolts, and the calibration cylinder is installed at the waist-shaped hole of the horizontal plate through bolts.

Claims

1. A feeding device based on image recognition, characterized in that, Including: A belt conveyor mechanism for conveying workpieces to be identified; A vision sensor located above the belt conveyor mechanism for image acquisition and processing of the workpieces; A walking beam conveyor mechanism for conveying the identified workpieces; A flipping mechanism located between the belt conveyor mechanism and the walking beam conveyor mechanism to flip the workpiece and place it on the walking beam conveyor mechanism; A manipulator for transferring the workpiece from the belt conveyor mechanism to the walking beam conveyor mechanism or the flipping mechanism; A controller, with its input end connected to the vision sensor and its output end connected to the manipulator and the flipping mechanism.

2. The feeding device based on image recognition according to claim 1, characterized in that, The flipping mechanism includes: A rotary cylinder installed between the two conveyor mechanisms; A connecting piece, with its middle part connected to the rotating shaft of the rotary cylinder; A pneumatic gripper installed on the connecting piece; Inner jaws arranged in pairs and respectively installed with a pair of sliders of the pneumatic gripper; Under the action of the pneumatic gripper, driving a pair of inner jaws to move away from or towards each other to clamp or release the workpiece; under the action of the rotary cylinder, realizing a 180° flip of the workpiece.

3. The feeding device based on image recognition according to claim 2, characterized in that The connecting piece is U-shaped; there are two pneumatic grippers respectively symmetrically installed on the two side walls of the U-shaped connecting piece; there are two pairs of jaws respectively connected to the sliders of the two pneumatic grippers, and the orientations of the two pairs of jaws are opposite to realize alternating work.

4. The feeding device based on image recognition according to claim 1, characterized in that, A pneumatic gripper is installed at the lower end of the manipulator, and a pair of outer jaws are installed on the two sliders of the pneumatic gripper; the pneumatic gripper drives the pair of outer jaws to move towards or away from each other to clamp or release the workpiece.

5. The feeding device based on image recognition according to claim 1, characterized in that, A calibration cylinder is provided at the input end of the walking beam conveyor mechanism; the output shaft of the calibration cylinder is arranged vertically downward, and a calibration post matching the process hole of the workpiece is installed on the output shaft of the calibration cylinder.

6. The feeding device based on image recognition according to claim 5, characterized in that The calibration cylinder is provided with an adjusting frame; the adjusting frame includes a vertical plate and a horizontal plate, with waist-shaped holes provided on the vertical plate and the horizontal plate; the vertical plate is fixed to the walking beam conveyor mechanism, the horizontal plate is installed at the waist-shaped hole of the vertical plate through bolts, and the calibration cylinder is installed at the waist-shaped hole of the horizontal plate through bolts.

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