Carrying device based on visual detection positioning

Abstract

The utility model discloses a carrying device based on visual detection positioning, which belongs to the technical field of automobile part processing and comprises a visual positioning module and a carrying module. The visual positioning module comprises a manipulator and a visual grabbing assembly, the visual grabbing assembly comprises a clamping jaw and a camera, the clamping jaw and the camera are both arranged at the tail end of the manipulator, the camera is used for positioning the initial placement position and the final placement position of the shaft workpiece, and the clamping jaw is used for clamping the shaft workpiece; the carrying module comprises a three-axis guide rail set, and the mechanical arm is arranged on the three-axis guide rail set. According to the carrying device based on visual detection positioning, the problems that in the carrying process of shaft workpieces, the workpieces are difficult to accurately grab and the workpieces are difficult to place in the hole positions are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of automobile parts processing, in particular to a transport device based on visual detection and positioning. Background Art

[0002] Robots are currently used to handle shafts in the automotive manufacturing industry. Traditional robotic handling methods struggle with high-precision identification and positioning, making it difficult to accurately grasp workpieces and determine whether a workpiece is already in the intended placement position. Utility Model Content

[0003] In order to overcome the defects of the prior art, the present invention provides a transport device based on visual detection and positioning to solve the above problems.

[0004] The technical solution adopted by the utility model to solve the technical problem is: a transport device based on visual detection and positioning, including a visual positioning module and a transport module;

[0005] The visual positioning module includes a manipulator and a visual grasping component, the visual grasping component includes a clamp and a camera, the clamp and the camera are both arranged at the end of the manipulator, wherein the camera is used to locate the starting placement position and the ending placement position of the shaft workpiece, and the clamp is used to clamp the shaft workpiece;

[0006] The transport module includes a three-axis guide rail group, and the manipulator is arranged on the three-axis guide rail group.

[0007] Preferably, the transport module also includes a bracket and a sliding mounting frame, the three-axis guide rail group includes an X-axis guide rail, a Y-axis guide rail and a Z-axis guide rail, the X-axis guide rail is arranged on the bracket, the Y-axis guide rail is arranged on the X-axis guide rail and is slidably connected to the X-axis guide rail, the Z-axis guide rail is arranged on the Y-axis guide rail and is slidably connected to the Y-axis guide rail, the sliding mounting frame is arranged on the Z-axis guide rail and is slidably connected to the Z-axis guide rail, and the manipulator is arranged on the sliding mounting frame.

[0008] Optionally, a rotating arm is provided at the end of the manipulator, the rotating arm is rotatably connected to the manipulator, and the visual grasping component is arranged on the rotating arm.

[0009] Specifically, the visual capture assembly further includes a mounting plate and a connecting seat, wherein the connecting seat is connected to the mounting plate, and the connecting seat is connected to the rotating arm;

[0010] The mounting plate is provided with a perspective hole, the camera is arranged on the connecting seat, and the lens of the camera faces the perspective hole;

[0011] The clamping claw is arranged on the mounting plate.

[0012] It is worth noting that the visual capture component also includes an illumination light source, which is arranged on the connecting seat.

[0013] Preferably, the clamp includes a base, a first claw member and a second claw member, the first claw member and the second claw member are symmetrically arranged on the base, and the first claw member and the second claw member are both slidingly connected to the base, and the base is arranged on the mounting plate; the wall surface of the first claw member close to its symmetry axis and the wall surface of the second claw member close to its symmetry axis are both provided with arc-shaped grooves.

[0014] The beneficial effect of the present invention is that: in the handling device based on visual detection and positioning, before grabbing the shaft workpiece, the robot arm is first used to drive the camera to take multi-directional shots, and then the center coordinate point of the shaft workpiece is determined by the algorithm according to the image captured by the camera, and the three-axis guide rail group is coordinated by the center coordinate to achieve the purpose of accurately positioning the shaft workpiece, so that the clamp can accurately clamp the shaft workpiece; before putting down the shaft workpiece, the robot arm will be used to drive the camera to take multi-directional shots of the placement position at a long distance to determine whether there is a shaft workpiece at the placement position, so as to locate the empty placement position, and then guide the three-axis guide rail group to move and transport the shaft workpiece to the placement position of the hole. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic structural diagram of a transport device based on visual detection and positioning in one embodiment of the present invention;

[0016] Figure 2 This is a structural diagram of a visual positioning module in one embodiment of the present utility model;

[0017] Figure 3 This is a structural diagram of a visual capture component in one embodiment of the present invention;

[0018] Figure 4 This is a structural diagram of a visual capture component in another embodiment of the present invention;

[0019] Figure 5 This is a schematic structural diagram of a clamping jaw in one embodiment of the present invention;

[0020] Figure 6 This is a front view of a transport module in one embodiment of the present invention;

[0021] Figure 7 A top view of a transport module in one embodiment of the present invention;

[0022] In the figure: 1 visual positioning module; 11 manipulator; 111 rotating arm; 12 visual grasping assembly; 121 gripper; 1211 base; 1212 first claw; 1213 second claw; 1214 arc groove; 122 camera; 123 mounting plate; 1231 perspective hole; 124 connecting seat; 125 lighting source; 2 handling module; 21 bracket; 22 X-axis guide rail; 23 Y-axis guide rail; 24 Z-axis guide rail; 25 sliding mounting frame; 3 axis workpiece. DETAILED DESCRIPTION

[0023] The following further describes specific embodiments of the present invention in conjunction with the accompanying drawings. It should be noted that the descriptions of these embodiments are intended to aid understanding of the present invention and do not constitute limitations on the present invention. Furthermore, the technical features involved in the various embodiments of the present invention described below may be combined with one another as long as they do not conflict with one another.

[0024] like Figure 1-7 As shown, a transport device based on visual detection and positioning includes a visual positioning module 1 and a transport module 2;

[0025] The visual positioning module 1 includes a manipulator 11 and a visual grasping component 12, wherein the visual grasping component 12 includes a clamping claw 121 and a camera 122, both of which are arranged at the ends of the manipulator 11, wherein the camera 122 is used to locate the starting placement position and the ending placement position of the shaft workpiece 3, and the clamping claw 121 is used to clamp the shaft workpiece 3; specifically, the manipulator 11 is a conventional structure, which can realize rotation and swing;

[0026] The transport module 2 includes a three-axis guide rail group, and the robot 11 is disposed on the three-axis guide rail group.

[0027] In the handling device based on visual detection and positioning, before grabbing the shaft workpiece 3, the robot 11 is first used to drive the camera 122 to perform multi-directional shooting, and then the center coordinate point of the shaft workpiece 3 is determined by an algorithm based on the image captured by the camera 122. In this embodiment, the algorithm is a conventional visual positioning algorithm, and then the center coordinate is used to coordinate the three-axis guide rail group. Specifically, the shaft workpiece and the three-axis guide rail group are set in the same coordinate system. The three-axis guide rail group has its own starting coordinates, and then the value required for the three-axis guide rail group to move can be obtained based on the starting coordinates and the center coordinates, thereby achieving the purpose of accurately positioning the shaft workpiece 3, and then the clamp 121 can accurately clamp the shaft workpiece 3; before putting down the shaft workpiece 3, the robot 11 will be used to drive the camera 122 to perform multi-directional shooting of the placement position at a long distance to determine whether there is a shaft workpiece 3 at the placement position, and screen them one by one to locate the empty placement position. After determining the coordinates of the empty placement position, the three-axis guide rail group is guided to move in the same way to transport the shaft workpiece 3 to the placement position of the hole. By placing both the gripper 121 and the camera 122 at the end of the manipulator 11, the visual field of the camera 122 is close to that of the gripper 121, which is more conducive to the gripper 121 accurately contacting the shaft workpiece 3. In this embodiment, the manipulator 11 serves two functions: the first is to drive the camera 122 to achieve multi-directional photography; the second is to drive the gripper 121 to make further micro-movements after the three-axis guide rail assembly moves into place, so that the gripper 121 can be more accurately placed at the center of the shaft workpiece 3.

[0028] It is worth noting that if Figure 1 、 6 As shown in Figure 7, the transport module 2 also includes a bracket 21 and a sliding mounting frame 25. The three-axis guide rail group includes an X-axis guide rail 22, a Y-axis guide rail 23, and a Z-axis guide rail 24. The X-axis guide rail 22 is arranged on the bracket 21, the Y-axis guide rail 23 is arranged on the X-axis guide rail 22 and is slidably connected to the X-axis guide rail 22, the Z-axis guide rail 24 is arranged on the Y-axis guide rail 23 and is slidably connected to the Y-axis guide rail 23, the sliding mounting frame 25 is arranged on the Z-axis guide rail 24 and is slidably connected to the Z-axis guide rail 24, and the manipulator 11 is arranged on the sliding mounting frame 25. In this embodiment, the X-axis guide rail 22 extends in the left-right direction, the Y-axis guide rail 23 extends in the front-back direction, and the Z-axis guide rail 24 extends in the up-down direction. In this way, the manipulator 11 can be moved in three-dimensional space.

[0029] Optional, such as Figure 1 and 2As shown, the end of the manipulator 11 is provided with a rotating arm 111, which is rotatably connected to the manipulator 11, and the visual capture assembly 12 is disposed on the rotating arm 111. By rotating the rotating arm 111, the camera 122 can be rotated, thereby enabling the camera 122 to capture images from a wider range of angles, thereby improving positioning accuracy. In addition, by rotating the rotating arm 111, the angle of the clamping jaw 121 can be adjusted, so that the clamping jaw 121 is aligned with the center of the shaft workpiece 3.

[0030] Preferably, Figure 2-4 As shown, the visual capture assembly 12 also includes a mounting plate 123 and a connecting base 124. The connecting base 124 is connected to the mounting plate 123, which is in turn connected to the rotating arm 111. The mounting plate 123 is provided with a perspective hole 1231. The camera 122 is mounted on the connecting base 124, with the lens of the camera 122 facing the perspective hole 1231. The clamping claw 121 is mounted on the mounting plate 123. In this way, the mounting plate 123 can protect the camera 122. After the perspective hole 1231 is provided on the mounting plate 123, the mounting plate 123 will not block the lens of the camera 122, ensuring that the camera 122 can capture images normally. When the rotating arm 111 rotates, the connecting base 124 can be driven to rotate, thereby driving the mounting plate 123 to rotate through the connecting base 124, thereby achieving visual rotation of the camera 122 and the clamping claw 121. By driving the rotating arm 111 to move through the manipulator 11 , the connecting base 124 can be driven to move, thereby driving the mounting plate 123 to move, thereby realizing the movement of the camera 122 and the clamping claw 121 .

[0031] Specifically, if Figure 3 and 4 As shown, the visual capture component 12 further includes an illumination light source 125, which is disposed on the connecting seat 124. The illumination light source 125 is used to supplement the camera 122 so that the captured image is clearer.

[0032] It is worth noting that if Figure 5As shown, the clamping jaw 121 includes a base 1211, a first claw member 1212, and a second claw member 1213. The first claw member 1212 and the second claw member 1213 are symmetrically arranged on the base 1211 and are both slidably connected to the base 1211. The base 1211 is mounted on the mounting plate 123. The wall surface of the first claw member 1212 near its axis of symmetry and the wall surface of the second claw member 1213 near its axis of symmetry are both formed with an arc-shaped groove 1214. When the first claw member 1212 and the second claw member 1213 move simultaneously in the direction of the axis of symmetry, a clamping action is achieved. Conversely, when the first claw member 1212 and the second claw member 1213 move simultaneously away from the axis of symmetry, a release action is achieved. In this embodiment, since the first claw member 1212 and the second claw member 1213 are both provided with an arc-shaped groove 1214, the wall surfaces of the first claw member 1212 and the second claw member 1213 can be more closely fitted to the shaft workpiece 3, thereby facilitating the clamping of the shaft workpiece 3.

[0033] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It is apparent to those skilled in the art that various changes, modifications, substitutions, and variations to these embodiments may be made without departing from the principles and spirit of the present invention, and these changes and modifications still fall within the scope of protection of the present invention.

Claims

1. A transport device based on visual detection and positioning, characterized in that: Including visual positioning module and handling module; The visual positioning module includes a manipulator and a visual grasping component, the visual grasping component includes a clamp and a camera, the clamp and the camera are both arranged at the end of the manipulator, wherein the camera is used to locate the starting placement position and the ending placement position of the shaft workpiece, and the clamp is used to clamp the shaft workpiece; A rotating arm is provided at the end of the manipulator, the rotating arm is rotatably connected to the manipulator, and the visual grasping component is provided on the rotating arm; The visual grasping assembly further includes a mounting plate and a connecting seat, wherein the connecting seat is connected to the mounting plate, and the connecting seat is connected to the rotating arm; The mounting plate is provided with a perspective hole, the camera is arranged on the connecting seat, and the lens of the camera faces the perspective hole; The clamping jaw is arranged on the mounting plate; The transport module includes a three-axis guide rail group, and the manipulator is arranged on the three-axis guide rail group.

2. A transport device based on visual detection and positioning according to claim 1, characterized in that: The transport module also includes a bracket and a sliding mounting frame, the three-axis guide rail group includes an X-axis guide rail, a Y-axis guide rail and a Z-axis guide rail, the X-axis guide rail is arranged on the bracket, the Y-axis guide rail is arranged on the X-axis guide rail and is slidably connected to the X-axis guide rail, the Z-axis guide rail is arranged on the Y-axis guide rail and is slidably connected to the Y-axis guide rail, the sliding mounting frame is arranged on the Z-axis guide rail and is slidably connected to the Z-axis guide rail, and the manipulator is arranged on the sliding mounting frame.

3. The transport device based on visual detection and positioning according to claim 1, characterized in that: The visual capture component further includes an illumination light source, which is disposed on the connecting seat.

4. The transport device based on visual detection and positioning according to claim 1, characterized in that: The clamp includes a base, a first claw member and a second claw member, the first claw member and the second claw member are symmetrically arranged on the base, and the first claw member and the second claw member are both slidably connected to the base, and the base is set on the mounting plate; the wall surface of the first claw member close to its symmetry axis and the wall surface of the second claw member close to its symmetry axis are both provided with arc-shaped grooves.

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