Drying vehicle tray storing and taking system based on visual positioning
By combining visual positioning and cylinder limiting, the problem of high-precision positioning of industrial robots when handling material trays on drying carts is solved, realizing stable storage and retrieval of material trays and efficient operation.
Patent Information
- Application Number
- CN202423296670.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-30
- Publication Date
- 2025-12-05
- Estimated Expiration
- 2034-12-30
AI Technical Summary
In existing technologies, industrial robots struggle to achieve high-precision positioning when handling material trays on drying carts, leading to tray tilting and material spillage.
The device uses visual positioning to identify the position of the tray and uses two sets of cylinders to limit the tray. It uses a robotic arm and gripper assembly to perform high-precision tray storage and retrieval operations, avoiding tilting caused by contact at the gripping point of traditional robotic arms.
It improves the efficiency of material loading, unloading, and pouring from the tray, avoids material spillage, and achieves high-precision storage and retrieval operations.
Smart Images
Figure CN223632588U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to automatic material storage and taking technology field especially relates to a kind of drying car tray storage and taking system based on vision positioning. BACKGROUND
[0002] Currently in drying car use scene, the carrying of drying car tray is often the pain point of automation, when using industrial robot to grab tray on the market, industrial robot carries out clamping and carrying to the surface of tray through mechanical arm, and the clamping point of industrial robot needs to be kept at the center of tray, when the clamping point of industrial robot is mispositioned, tray is prone to tilt and cause material spillage when carrying.
[0003] Traditional mechanical hand positioning method mainly relies on pre-set program and sensor feedback, and these methods are often difficult to realize high-precision positioning. Therefore, some mechanical hand devices based on vision positioning appear to improve tray taking and material pouring efficiency.
[0004] It should be noted that the information disclosed in the above background section is only used to strengthen the understanding of the background of the utility model, and does not constitute any limitation on the utility model. INVENTION CONTENTS
[0005] In view of the above-mentioned shortcomings of the prior art, the utility model provides a kind of drying car tray storage and taking system based on vision positioning, the position of tray in drying car is identified by vision positioning, and two groups of cylinders are used to limit tray, then the action of taking and placing material and pouring material is operated to solve the problem of high-precision positioning to the surface of tray by mechanical arm, realize clamping and carrying tray and pouring material.
[0006] The utility model provides a kind of drying car tray storage and taking system based on vision positioning, including mechanical arm and drying car, the end of execution of mechanical arm is equipped with the camera of jaw assembly and vision positioning terminal;Tray is placed in drying car;Wherein, the end of execution of mechanical arm carries camera and moves to drying car, takes picture to tray, obtains the point information of tray by vision positioning terminal, then carries jaw assembly and moves to tray by the end of execution of mechanical arm to complete clamping, to carry out the storage and taking action of tray.
[0007] In an embodiment of the utility model, it further includes tray pushing device, and tray pushing device and mechanical arm are respectively arranged on the two sides of drying car, and the moving direction of tray pushing device, mechanical arm and tray in drying car corresponds.
[0008] In an embodiment of the utility model, the clamping jaw assembly comprises a clamping jaw substrate, a guide block and a rotary air cylinder, the clamping jaw substrate is arranged at the execution end of the mechanical arm, the guide block is protruded on the upper surface of the clamping jaw substrate, and the rotary air cylinder is arranged on the lower surface of the clamping jaw substrate and is provided with a limiting block at the end of the rotary air cylinder, and the limiting block is protruded on the upper surface of the front end of the clamping jaw substrate.
[0009] In an embodiment of the utility model, a clamping air cylinder is further arranged on the clamping jaw substrate, the clamping air cylinder is arranged at the rear end of the clamping jaw substrate and moves along the upper surface of the clamping jaw substrate to the limiting block.
[0010] In an embodiment of the utility model, a front protruding part is further arranged on the clamping jaw substrate, and the camera is arranged on the lower surface of the front protruding part of the clamping jaw substrate.
[0011] In an embodiment of the utility model, the two guide blocks are symmetrically arranged on the two sides of the clamping jaw substrate, and the guide blocks on the two sides are provided with an inclination surface.
[0012] In an embodiment of the utility model, the two rotary air cylinders are symmetrically arranged on the lower surface of the clamping jaw substrate.
[0013] In an embodiment of the utility model, the execution end of the mechanical arm carries the camera to move to the fixed point of the lowermost layer of the drying trolley, and the tray is photographed.
[0014] In an embodiment of the utility model, the point information of the tray is obtained through the visual positioning terminal, and the mechanical arm carries the clamping jaw substrate to move to the corresponding position of the tray in the drying trolley according to the point information.
[0015] In an embodiment of the utility model, the tray pushing device horizontally extends into the drying trolley to push the corresponding tray to the clamping jaw substrate, the mechanical arm carries the clamping jaw substrate to horizontally separate from the drying trolley, and the clamping of the tray is completed through the driving of the limiting block and the clamping air cylinder of the rotary air cylinder.
[0016] The utility model discloses the beneficial effects: through visual positioning, the position of the tray in the drying trolley is accurately identified, two groups of air cylinders are used to limit the tray, and the action of taking and placing the material and pouring the material of the tray is operated, the point contact of the traditional mechanical hand clamping is replaced by the surface contact, the material is prevented from spilling due to the inclination, and the efficiency of taking and placing the material and pouring the material of the tray is improved.
[0017] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and cannot limit the utility model. BRIEF DESCRIPTION OF DRAWINGS
[0018] The accompanying drawings, which are incorporated into and form a part of the specification, illustrate an embodiment consistent with the present application and, together with the description, serve to explain the principles of the application. It is apparent that the accompanying drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained from these drawings without creative labor. In the drawings:
[0019] Fig. 1 It is a device structure diagram of the oven car tray access system of the present application;
[0020] Fig. 2 It is a structure diagram of the mechanical arm execution end of the present application;
[0021] Fig. 3 It is a structure diagram of the clamp jaw assembly of the present application.
[0022] In the drawings: 1, mechanical arm; 2, oven car; 20, tray; 3, clamp jaw assembly; 4, camera; 5, push disc device; 30, clamp jaw base plate; 31, guide block; 32, rotary cylinder; 33, limit block; 34, clamping cylinder. DETAILED DESCRIPTION
[0023] The embodiments of the present application will be described below through specific concrete examples, and those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in the specification. The present application can also be implemented or applied by different specific embodiments, and the details in the specification can be modified or changed based on different views and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict. It should also be understood that the terms used in the embodiments of the present application are for describing specific specific embodiments, and are not intended to limit the protection scope of the present application.
[0024] Please refer to Figs. 1-3 It should be noted that the structure, proportion, size, etc. shown in the drawings attached to the specification are only used to cooperate with the content disclosed in the specification, so that those skilled in the art can understand and read, and are not intended to limit the limiting conditions that can be implemented by the present application, so they do not have technical significance. Any modification of structure, change of proportion relationship or adjustment of size, without affecting the effects and purposes that can be achieved by the present application, should still fall within the scope of the technical content disclosed by the present application. At the same time, the terms used in the specification, such as position, quantity relationship, etc., are only for the convenience of clear description, and are not intended to limit the scope of the present application, and the change or adjustment of the relative relationship is also considered as the scope of the present application that can be implemented without changing the technical content.
[0025] Please refer to Figs. 1-3 The utility model provides a kind of based on vision positioning's drying trolley tray storage and access system, including mechanical arm 1 and drying trolley 2, the execution end of mechanical arm 1 is equipped with gripper assembly 3 and the camera 4 of vision positioning terminal;Drying trolley 2 is placed with tray 20;Wherein, the execution end of mechanical arm 1 carries camera 4 and moves to drying trolley 2, takes picture to tray 20, obtains the point information of tray 20 by vision positioning terminal, then carries gripper assembly 3 by the execution end of mechanical arm 1 and moves to the place of tray 20 to complete clamping, to carry out the access action of tray 20.
[0026] Further, the access system further includes tray pushing device 5, and the tray pushing device 5 and the mechanical arm 1 are respectively arranged on both sides of the drying trolley 2, and the moving directions of the tray pushing device 5, the mechanical arm 1 and the tray 20 in the drying trolley 2 correspond to each other.
[0027] Specifically, in the embodiment of the utility model, the camera 4 equipped on the execution end of the mechanical arm 1 collects images of the tray 20 in the drying trolley 2, and after obtaining the images of the tray 20, the vision positioning terminal analyzes the images by using a corresponding image processing method such as vision software, recognizes the outline of the corresponding tray 20 in the images, and then processes the images into point information. According to the point information output by the vision positioning terminal, the mechanical arm 1 can determine the position of the tray 20 without physical contact, and then accurately moves to the corresponding position to perform the clamping action of accessing the tray 20.
[0028] More specifically, after the mechanical arm 1 obtains the point information of the tray 20, the execution end of the mechanical arm 1 carries the gripper assembly 3 to the corresponding position, and then completes the clamping operation of the tray 20 by the gripper assembly 3, thereby realizing the access action of the tray 20. By using the motion planning of the mechanical arm 1 and the accurate control of the gripper, the stability and safety of the tray 20 during the access and handling process in the drying trolley 2 are ensured.
[0029] Further, the tray pushing device 5 is arranged on both sides of the drying trolley 2 together with the mechanical arm 1, and when the gripper assembly 3 at the end of the mechanical arm 1 moves from one side of the drying trolley 2 to the position of the tray 20, the tray pushing device 5 moves into the other side of the drying trolley 2 and pushes the tray 20 onto the gripper assembly 3, facilitating the gripper assembly 3 to grasp and fix the tray 20. It should be noted that when the mechanical arm 1 moves into the internal area of the drying trolley 2, the tray pushing device can move towards the tray 20 to be clamped at the same time, and then the clamping and access of the tray 20 are performed immediately after the gripper assembly 3 moves to the position corresponding to the point information.
[0030] Therefore, the tray 20 access action is performed by the mechanical arm 1 integrated with the visual positioning function, the automation level and operation precision of the tray 20 access of the drying trolley 2 are improved, the position of the tray 20 on the drying trolley 2 is accurately identified by the visual positioning, the material is prevented from spilling due to the inclination, and the tray 20 material taking and placing and material pouring efficiency are improved.
[0031] Please refer to Fig. 3 In an embodiment, the clamping jaw assembly 3 comprises a clamping jaw base plate 30, a guide block 31 and a rotary cylinder 32, the clamping jaw base plate 30 is arranged at the execution end of the mechanical arm 1, the guide block 31 is protrusively arranged on the upper side surface of the clamping jaw base plate 30, the rotary cylinder 32 is arranged on the lower side surface of the clamping jaw base plate 30, and a limiting block 33 is arranged at the end of the rotary cylinder 32, the rotary cylinder 32 drives the limiting block 33 to protrude on the upper side surface of the front end of the clamping jaw base plate 30. A clamping cylinder 34 is further arranged on the clamping jaw base plate 30, the clamping cylinder 34 is arranged at the rear end of the clamping jaw base plate 30 in the middle and moves along the upper side surface of the clamping jaw base plate 30 to the limiting block 33. A front protruding part is further arranged on the clamping jaw base plate 30, and the camera 4 is arranged on the lower side surface of the front protruding part of the clamping jaw base plate 30.
[0032] Specifically, in the embodiment of the utility model, when the clamping jaw assembly 3 performs the storage action, first, the movement of the execution end of the mechanical arm 1 makes the clamping jaw base plate 30 move to the corresponding position beside the tray 20. For different states of the tray 20 stored in the drying trolley 2, when there is enough space, it is directly moved to the lower side of the corresponding tray 20 and aligned with the corresponding position of the clamping jaw base plate 30, and the tray 20 is positioned by lifting to be between the guide block 31 and the limiting block 33 on the clamping jaw base plate 30 to complete clamping. When the tray 20 stored in the drying trolley 2 has multiple, there is no enough space in the height direction, the clamping jaw base plate 30 is moved to one side of the tray 20 and is in the same horizontal plane, then the tray 20 is pushed to the clamping jaw base plate 30 by the tray pushing device 5 on the other side of the drying trolley 2, the position of the tray 20 in the pushing process is controlled by the guide blocks 31 on both sides of the clamping jaw base plate 30, and the camera 4 of the front protruding part of the clamping jaw base plate 30 is used for identification after the tray 20 is pushed to the position, then the limiting block 33 is driven to rotate by the rotary cylinder 32 to complete the limiting of the upper side surface of the clamping jaw base plate 30, and the clamping cylinder 34 on the other side is used for clamping and fixing the tray 20 on the clamping jaw base plate 30.
[0033] It should be noted that, please refer to the attached Fig. 3, the clamping jaw base plate 30 can be designed to be lightweight under the strength requirement of meeting the load tray 20, for example, the width size of the clamping jaw base plate 30 is narrowed under the premise of meeting the stable load tray 20, that is, the size of the clamping jaw base plate 30 body in one direction is smaller than the size of the corresponding direction of the tray 20, and only the position area of the clamping jaw base plate 30 equipped with the guide block 31 is matched with the full size design of the tray 20. By adopting a single clamping cylinder 34 arranged centrally on the clamping jaw base plate 30, only a single clamping cylinder 34 needs to be arranged while achieving clamping and fastening with the limiting block 33 on the other side. Similarly, the camera 4 of the visual positioning terminal is installed on the lower side surface of the front protruding part of the clamping jaw base plate 30 to prevent blocking the tray 20 from being assembled into the clamping jaw base plate 30 from the front end. It can adopt an omnidirectional camera 4, and a visual angle window is opened on the front protruding part or a transparent visible material is selected to meet the visual positioning of the tray 20 loaded on the clamping jaw base plate 30.
[0034] Please refer to Fig. 3 In an embodiment, the two guide blocks 31 are symmetrically arranged on the two sides of the clamping jaw base plate 30, and the guide blocks 31 on the two sides are provided with inclined surfaces. The two rotary cylinders 32 are symmetrically arranged on the lower side surface of the clamping jaw base plate 30.
[0035] Specifically, in the embodiment of the utility model, the guide block 31 is used for guiding the tray 20 entering from the front end outside of the clamping jaw base plate 30, so that the tray 20 is located on the center position of the clamping jaw base plate 30. Therefore, the corresponding angle is arranged on the guide block 31 in the direction of entering the clamping jaw base plate 30 from the tray 20 to form an inclined surface, which facilitates the movement of the tray 20 into and guiding. Similarly, the guide block 31 is also provided with an inclined surface in the direction towards the upper side of the clamping jaw base plate 30, which is used for guiding the tray 20 to fall correctly into the clamping jaw base plate 30 when the horizontal height positioning deviation between the clamping jaw base plate 30 and the tray 20 occurs when the tray 20 moves into from the front end side of the clamping jaw base plate 30, and is also used for guiding in the height direction when the clamping jaw base plate 30 rises from below to support the tray 20. At the same time, when the tray 20 is completely moved to the clamping jaw base plate 30 and the clamping cylinder 34 is limited, the tray 20 is still affected by the guide block 31 during the process of entering the completely positioned placement posture, so that the final placement posture of the tray 20 matches the upper side surface of the clamping jaw base plate 30, and is completely limited and fixed by the guide block 31, the limiting block 33 and the clamping cylinder 34.
[0036] More specifically, the limiting block 33 is arranged on the clamping jaw base plate 30 in the direction in which the tray 20 enters, relative to the clamping cylinder 34, and cooperates with the driving of the rotary cylinder 32 to control whether it protrudes from the upper side surface of the clamping jaw base plate 30 to play a limiting role. Therefore, the size of the limiting block 33 itself is limited, and it is not appropriate to be set too large, and the thickness of the limiting block 33 on the lower side surface of the clamping jaw base plate 30 in the non-limiting state needs to be controlled, and only a single clamping cylinder 34 is arranged on the other side of the clamping jaw base plate 30, in order to keep the limiting of the tray 20 on the clamping jaw base plate 30 stable, the limiting block 33 and the rotary cylinder 32 driven thereby are arranged in pairs, so as to satisfy the fixing stability of the tray 20.
[0037] Please refer to Figs. 1-3 In an embodiment, the execution end of the mechanical arm 1 carries the camera 4 to move to the fixed point position of the lowermost layer of the baking trolley 2, and takes a picture of the tray 20. The point position information of the tray 20 is obtained through the visual positioning terminal, and the mechanical arm 1 carries the clamping jaw base plate 30 to the corresponding position of the tray 20 in the baking trolley 2 according to the point position information. The tray pushing device 5 horizontally extends into the baking trolley 2 to push the corresponding tray 20 onto the clamping jaw base plate 30, the mechanical arm 1 carries the clamping jaw base plate 30 to horizontally separate from the baking trolley 2, and then the limiting block 33 and the clamping cylinder 34 are driven to extend out to complete the clamping of the tray 20.
[0038] Specifically, in the embodiment of the utility model, the steps of the process of the mechanical arm 1 accessing the tray 20 include: first, moving the mechanical arm 1 to the lowermost layer of the baking trolley 2 of the feeding station, to the fixed photographing point position to trigger the camera 4 to take a picture; then, analyzing the image information through the visual software of the visual positioning terminal, first performing morphological processing on the original image to remove most of the noise, and then using the canny (Canny Edge Detector) edge detection algorithm to extract the image target contour in the region of interest (Region of Interest, ROI); then, according to the target contour characteristics, interference contours are screened and removed, and then a target point position is determined by using a contour matching algorithm; then, the pixel image is mapped to an actual physical coordinate image through the camera internal and external parameters measured by the initial hand-eye calibration, and the obtained target point position image coordinates are converted into actual world coordinates and sent to the mechanical arm 1; after the mechanical arm 1 moves to the point position according to the visual positioning, the tray pushing device 5 behind the baking trolley 2 pushes a tray 20 onto the clamping jaw assembly 3 of the mechanical arm 1, and after the clamping jaw base plate 30 of the clamping jaw assembly 3 carried by the mechanical arm 1 horizontally separates from the baking trolley 2, the rotary cylinder 32 at the front end thereof acts to complete the limiting, and the rear clamping cylinder 34 extends out to clamp, at which time the unloading process can be performed; finally, after the unloading is completed, the visual positioning step is repeated to complete the tray insertion into the baking trolley 2, and the mechanical arm 1 moves to the upper layer of the baking trolley 2 to continue taking the tray. The above steps are repeated in this way, and the accessing action is performed on each tray 20 in the baking trolley 2.
[0039] In conclusion, the drying trolley material tray access system based on visual positioning provided by the utility model accurately identifies the position of the material tray on the drying trolley through visual positioning, and realizes centering through the limiting of the material tray by two groups of air cylinders, so that the face contact is used to replace the point contact of the traditional mechanical hand clamping, the material is prevented from spilling due to the inclination, and the efficiency of the operation of the material tray taking and placing material and the material pouring is improved.
[0040] The above embodiment only illustrates the principle and effect of the utility model, and is not used to limit the utility model. Any person skilled in the art can modify or change the above embodiment without departing from the spirit and category of the utility model. Therefore, all equivalent modifications or changes completed by those skilled in the art without departing from the spirit and technical thought disclosed by the utility model should be covered by the claims of the utility model.
Claims
1. A vision positioning based oven cart tray access system, characterized by, The utility model relates to a kind of mechanical arm and push disc device for the automatic storage and retrieval of tray, including: Mechanical arm (1), the execution end of the mechanical arm (1) is equipped with gripper assembly (3) and visual positioning terminal camera (4); And Baking car (2), baking car (2) is placed with tray (20); Wherein, the execution end of the mechanical arm (1) carries the camera (4) and moves to the baking car (2), takes picture to the tray (20), obtains the point position information of the tray (20) by visual positioning terminal, then the execution end of the mechanical arm (1) carries the gripper assembly (3) and moves to the tray (20) to complete clamping, to carry out the storage and retrieval action of the tray (20).
2. The system of claim 1, wherein, It also includes a push disc device (5), the push disc device (5) and the mechanical arm (1) are respectively arranged on both sides of the baking car (2), and the moving direction of the push disc device (5), the mechanical arm (1) and the tray (20) in the baking car (2) corresponds.
3. The system of claim 2, wherein, The gripper assembly (3) includes: Gripper substrate (30), the gripper substrate (30) is equipped on the execution end of the mechanical arm (1); Guide block (31), the guide block (31) is protrudingly arranged on the upper side surface of the gripper substrate (30);And Rotary air cylinder (32), the rotary air cylinder (32) is equipped on the lower side surface of the gripper substrate (30), and limit block (33) is equipped at the end of the rotary air cylinder (32), the rotary air cylinder (32) drives the limit block (33) to protrude on the upper side surface of the front end of the gripper substrate (30).
4. The system of claim 3, wherein, The gripper substrate (30) is also equipped with clamping air cylinder (34), the clamping air cylinder (34) is centrally equipped on the rear end of the gripper substrate (30) and moves along the upper side surface of the gripper substrate (30) to the limit block (33).
5. The system of claim 3, wherein, The gripper substrate (30) is also provided with a front protruding portion, and the camera (4) is equipped on the lower side surface of the front protruding portion of the gripper substrate (30).
6. The system of claim 3, wherein, Two guide blocks (31) are symmetrically arranged on both sides of the gripper substrate (30), and an inclination surface is provided on the guide blocks (31) on both sides.
7. The system of claim 3, wherein, Two rotary air cylinders (32) are symmetrically arranged on the lower side surface of the gripper substrate (30).
8. The system of claim 1, wherein, The execution end of the mechanical arm (1) carries the camera (4) and moves to the fixed point in the lowermost layer of the baking car (2), and takes a picture of the tray (20).
9. The system of claim 3, wherein, After obtaining the point position information of the tray (20) by the visual positioning terminal, the mechanical arm (1) carries the gripper substrate (30) to the corresponding position of the tray (20) in the baking car (2) according to the point position information.
10. The system of claim 4, wherein, The push disc device (5) horizontally extends into the baking car (2) to push the corresponding tray (20) onto the gripper substrate (30), and the mechanical arm (1) carries the gripper substrate (30) horizontally out of the baking car (2), and then the limit block (33) and the clamping air cylinder (34) are driven out by the rotary air cylinder (32) to complete the clamping of the tray (20).