CCD visual guiding mechanism of automatic feeding and discharging robot

Abstract

The utility model discloses an automatic feeding and discharging robot CCD visual guiding mechanism which comprises a feeding assembly, a visual guiding assembly and a conveying assembly, the conveying assembly is installed on one side of the feeding assembly, and the visual guiding assembly is installed at the position of the conveying assembly. According to the CCD visual guiding mechanism of the automatic feeding and discharging robot, through cooperation of the light-transmitting plate and the adjusting assembly, details of all parts of materials can be captured by the CCD cameras under the consistent illumination condition through cooperation between the CCD cameras, the requirement of the CCD cameras for material pattern collection is met, meanwhile, the recognition efficiency is improved, and the recognition efficiency is improved. The detachable protective cover is arranged at the position of the CCD camera, the protective cover can protect the CCD camera and can bear impact to a certain degree, the CCD camera is prevented from being directly impacted by external force and damaged, and normal use of the CCD camera is guaranteed.

Description

Technical Field

[0001] This utility model relates to the field of automatic robot technology, specifically to a CCD vision guidance mechanism for an automatic loading and unloading robot. Background Technology

[0002] The CCD vision guidance mechanism for automated loading and unloading robots is an intelligent device used in industrial automation production. In this mechanism, the CCD camera acts as a vision sensor, which can capture image information of the workpiece. Then, through a series of image processing and analysis algorithms, it provides the automated loading and unloading robot with precise position and posture information, guiding the robot to accurately grasp and place the workpiece.

[0003] In actual processing, there are usually many moving parts around the automated loading and unloading robot, such as the swinging of the robotic arm and the operation of the material conveying device. These may accidentally collide with the CCD camera, which is easily damaged by direct external impact. For example, in a relatively compact automated workshop, the robot's robotic arm moves frequently. Without a protective cover, it is easy to bump into the camera next to it during a wide range of rapid movements. However, with a sturdy protective cover installed, even if a slight collision occurs, the camera can remain unharmed. To address the shortcomings of existing technologies, we propose a CCD vision guidance mechanism for automated loading and unloading robots to solve the above problems. Utility Model Content

[0004] To achieve the above objectives, this utility model provides the following technical solution: an automatic loading and unloading robot CCD vision guidance mechanism, comprising a loading component, a vision guidance component, and a conveying component. The conveying component is installed on one side of the loading component, and the vision guidance component is installed at the conveying component. The vision guidance component consists of a vision guidance manipulator and a CCD camera. The manipulator and the CCD camera cooperate to grip and load materials. The CCD camera is installed above the end of the conveying component, and a light-transmitting plate is provided at the end of the conveying component, located below the CCD camera.

[0005] The outer peripheral wall of the CCD camera is detachably equipped with a protective cover, which shields and protects the CCD camera. An adjustment component is provided at the CCD camera to adjust the distance between the CCD camera and the light-transmitting plate.

[0006] Preferably, a support column is fixedly connected to the top of one end of the conveying component, a top plate is fixedly installed on the top of the support column, an mounting plate is provided at the bottom of the top plate, the CCD camera is fixedly installed at the bottom of the mounting plate, and the mounting plate is connected to the adjustment component.

[0007] Preferably, the mounting plate has a threaded groove inside, and a threaded ring is fixedly connected to the top of the protective cover, with the threaded ring threadedly connected inside the threaded groove.

[0008] Preferably, the adjustment assembly includes a transmission screw, a driving component, a connecting component, and a driving motor, wherein the transmission screw is rotatably connected inside the support column.

[0009] Preferably, the drive motor is fixedly mounted on the top of the top plate, and the output end of the drive motor is fixedly connected to the end of the transmission screw.

[0010] Preferably, the driving component is slidably sleeved on the outer peripheral wall of the conveying screw, the connecting component is fixedly installed on the outer wall of the driving component, and the connecting component is fixedly connected to the mounting plate.

[0011] Preferably, the output end of the guiding robot is fixedly connected to a fixing plate, and multiple gripping components are provided on the fixing plate.

[0012] This utility model discloses a CCD vision guidance mechanism for an automatic loading and unloading robot, which has the following beneficial effects: This automatic loading and unloading robot CCD vision guidance mechanism, by setting up a guidance component and installing a light-transmitting plate at the bottom of the CCD camera, allows the CCD cameras to work together through the cooperation of the light-transmitting plate and the adjustment component. This ensures that details of various parts of the material can be captured by the CCD camera under relatively consistent lighting conditions, meeting the needs of the CCD camera for material pattern acquisition while improving recognition efficiency. Furthermore, a detachable protective cover is installed at the CCD camera, which protects the CCD camera and can withstand a certain degree of impact, preventing direct damage from external forces and ensuring the normal operation of the CCD camera. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0015] Figure 2 This is a schematic diagram of the connection structure between the guide robot and multiple gripping components of this utility model;

[0016] Figure 3 This is a schematic diagram showing the connection position between the CCD camera and the light-transmitting plate of this utility model;

[0017] Figure 4 This is a schematic diagram of the structure of the protective cover after installation.

[0018] Figure 5 This is a schematic diagram of the explosion structure of the protective cover and CCD camera of this utility model;

[0019] Figure 6 This is a schematic diagram of the adjustment component structure of this utility model.

[0020] In the diagram: 1. Feeding assembly; 2. Vision guidance assembly; 201. Guiding robot; 2011. Fixing plate; 2012. Gripping assembly; 202. CCD camera; 3. Conveying assembly; 301. Support column; 302. Top plate; 4. Protective cover; 401. Mounting plate; 402. Threaded groove; 403. Threaded ring; 5. Light-transmitting plate; 6. Adjustment assembly; 601. Conveying screw; 602. Driving component; 603. Connecting component; 604. Drive motor. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions in the embodiments of this utility model are described clearly and completely. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0022] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0023] This utility model discloses a CCD vision guidance mechanism for an automatic loading and unloading robot.

[0024] According to the appendix Figure 1-6As shown, the system includes a feeding component 1, a vision guidance component 2, and a conveying component 3. The conveying component 3 is installed on one side of the feeding component 1, and the vision guidance component 2 is installed at the conveying component 3. The vision guidance component 2 consists of a vision guidance robot 201 and a CCD camera 202. The CCD camera 202 is the "eye" of the vision guidance mechanism, responsible for acquiring images and transmitting the acquired information to the guidance robot 201. It can guide the guidance robot 201 to accurately grasp materials and classify and place the grasped materials at the feeding component 1 according to the acquired material image information. The material is grasped and fed through the cooperation between the guidance robot 201 and the CCD camera 202. The CCD camera 202 is installed above the end of the conveying component 3, and a light-transmitting plate 5 is provided at the end of the conveying component 3. It should be noted that the conveying component 3 consists of two conveyor belts, and the light-transmitting plate 5 is installed on the surface of the conveyor belt located at the bottom of the CCD camera 202. For details, please refer to the attached diagram. Figure 3 The light-transmitting plate 5 can scatter light, making the light softer and more evenly distributed on the workpiece. This allows the CCD camera 202 to capture details of various parts of the material under relatively consistent lighting conditions, improving recognition efficiency. When the material is conveyed to the top of the light-transmitting plate 5, the CCD camera 202 can easily capture the pattern and position of the material, thus facilitating the transmission of the captured information to the guiding robot 201. This allows the multiple gripping components 2012 at the guiding robot 201 to grip multiple sets of materials, loading the gripped materials onto the loading component 1. Plate 5 is located below CCD camera 202. In use, the material is first conveyed by conveying component 3. When the material is conveyed to the light-transmitting plate 5 at the bottom of CCD camera 202, conveying component 3 stops working. CCD camera 202 acquires images of the working area, identifies the position and pattern details of the material conveyed to the top of light-transmitting plate 5, and transmits the identified information to guide robot 201. In this way, guide robot 201 can accurately move to the material. Multiple sets of gripping components 2012 grip multiple materials respectively, and classify and place the gripped materials at the loading component 1.

[0025] A protective cover 4 is detachably installed on the outer periphery of the CCD camera 202, which shields and protects the CCD camera 202. An adjustment component 6 is installed at the CCD camera 202, which adjusts the distance between the CCD camera 202 and the light-transmitting plate 5. At different distances, the angle and intensity distribution of light entering the camera after passing through the light-transmitting plate 5 will vary. A suitable distance can make the light evenly distributed on the camera's photosensitive element, reduce imaging problems such as image edge distortion and vignetting, and improve the overall image sharpness, contrast and other quality indicators, so that the final image can better reflect the true features of the object behind the light-transmitting plate 5. The imaging principle of the CCD camera 202 is similar to that of a traditional camera, which requires a suitable object distance. The distance between the CCD camera 202 and the light-transmitting plate 5 can be adjusted as needed by the adjustment component 6 to meet the needs of the CCD camera 202 for material pattern acquisition.

[0026] A support column 301 is fixedly connected to the top of one end of the conveying component 3. A top plate 302 is fixedly installed on the top of the support column 301. A mounting plate 401 is provided at the bottom of the top plate 302. The CCD camera 202 is fixedly installed at the bottom of the mounting plate 401. The mounting plate 401 is connected to the adjusting component 6. During the process of gripping materials by the gripping component 2012 at the guiding robot arm 201, the protective cover 4 can protect the CCD camera 202, preventing the guiding robot arm 201 from easily touching the CCD camera 202 on top of the material and causing damage to the CCD camera 202. The protective cover 4 acts as a barrier, able to withstand a certain degree of impact, preventing the CCD camera 202 from being directly damaged by external force, and protecting the CCD camera. For normal use of the CCD camera 202, during operation, if foreign objects enter the CCD camera 202, they may adhere to the lens surface and CCD chip, affecting image quality and causing problems such as blurry images and black spots. The protective cover 4 can block dust from easily contacting the CCD camera 202, keeping the CCD camera 202 clean and ensuring clear and accurate images. It should be noted that the bottom of the protective cover 4 is made of transparent material, which does not affect the normal material recognition of the CCD camera 202. At the same time, it is easy to wipe away the dust adhering to the bottom surface of the protective cover 4, preventing dust from affecting the recognition of the CCD camera 202. In the case of long-term use, the protective cover 4 can be disassembled and replaced separately.

[0027] The mounting plate 401 has a threaded groove 402 inside. A threaded ring 403 is fixedly connected to the top of the protective cover 4. The threaded ring 403 is threaded into the threaded groove 402. The adjustment assembly 6 includes a transmission screw 601, a drive component 602, a connector 603, and a drive motor 604. The transmission screw 601 is rotatably connected inside the support column 301. When adjusting the distance between the CCD camera 202 and the light-transmitting plate 5 through the adjustment assembly 6, the drive motor 604 is started, causing the drive motor 604 to drive the transmission screw 601 to rotate inside the support column 301. This causes the drive component 602 and the connector 603 to drive the mounting plate 401 to slide on the bottom of the top plate 302, thereby enabling the adjustment of the distance between the CCD camera 202 and the light-transmitting plate 5.

[0028] The drive motor 604 is fixedly installed on the top of the top plate 302. The output end of the drive motor 604 is fixedly connected to the end of the conveying screw 601. The drive component 602 is slidably sleeved on the outer peripheral wall of the conveying screw 601. The connector 603 is fixedly installed on the outer wall of the drive component 602 and is fixedly connected to the mounting plate 401. When the protective cover 4 and the mounting plate 401 are disassembled and replaced, the outer peripheral wall of the protective cover 4 is rotated so that the threaded ring 403 at the top of the protective cover 4 is threaded into the threaded groove 402 and disengaged from the mounting plate 401. This facilitates the disassembly and replacement of the protective cover 4 from the outer peripheral wall of the CCD camera 202, ensuring the effectiveness of the protective cover 4.

[0029] The output end of the guide robot 201 is fixedly connected to a fixing plate 2011, and multiple gripping components 2012 are provided on the fixing plate 2011.

[0030] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. An automatic loading and unloading robot CCD vision guidance mechanism, comprising a loading component (1), a vision guidance component (2), and a conveying component (3), wherein the conveying component (3) is installed on one side of the loading component (1), and the vision guidance component (2) is installed on the conveying component (3), characterized in that: The visual guidance component (2) consists of a visual guidance robot (201) and a CCD camera (202). The robot (201) and the CCD camera (202) work together to grab and feed materials. The CCD camera (202) is installed above the end of the conveying component (3). A light-transmitting plate (5) is provided at the end of the conveying component (3). The light-transmitting plate (5) is located below the CCD camera (202). The outer peripheral wall of the CCD camera (202) is detachably provided with a protective cover (4), which shields and protects the CCD camera (202). An adjustment component (6) is provided at the CCD camera (202) to adjust the distance between the CCD camera (202) and the light-transmitting plate (5).

2. The CCD vision guidance mechanism for an automatic loading and unloading robot according to claim 1, characterized in that: The top of one end of the conveying component (3) is fixedly connected to a support column (301), and a top plate (302) is fixedly installed on the top of the support column (301). A mounting plate (401) is provided at the bottom of the top plate (302), and the CCD camera (202) is fixedly installed at the bottom of the mounting plate (401). The mounting plate (401) is connected to the adjustment component (6).

3. The CCD vision guidance mechanism for an automatic loading and unloading robot according to claim 2, characterized in that: The mounting plate (401) has a threaded groove (402) inside, and a threaded ring (403) is fixedly connected to the top of the protective cover (4), and the threaded ring (403) is threadedly connected inside the threaded groove (402).

4. The CCD vision guidance mechanism for an automatic loading and unloading robot according to claim 3, characterized in that: The adjustment assembly (6) includes a transmission screw (601), a drive member (602), a connector (603), and a drive motor (604). The transmission screw (601) is rotatably connected inside the support column (301).

5. The CCD vision guidance mechanism for an automatic loading and unloading robot according to claim 4, characterized in that: The drive motor (604) is fixedly installed on the top of the top plate (302), and the output end of the drive motor (604) is fixedly connected to the end of the transmission screw (601).

6. The CCD vision guidance mechanism for an automatic loading and unloading robot according to claim 5, characterized in that: The driving component (602) is slidably sleeved on the outer peripheral wall of the conveying screw (601), and the connecting component (603) is fixedly installed on the outer wall of the driving component (602). The connecting component (603) is fixedly connected to the mounting plate (401).

7. The CCD vision guidance mechanism for an automatic loading and unloading robot according to claim 1, characterized in that: The output end of the guide robot (201) is fixedly connected to a fixing plate (2011), and a plurality of gripping components (2012) are provided on the fixing plate (2011).

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