Multi-manipulator collaborative feeding and discharging device based on machine vision

Abstract

The utility model discloses a multi-manipulator collaborative feeding and discharging device based on machine vision, which comprises a robot, a manipulator is arranged on the robot, the manipulator comprises a frame, two ends of the frame are hinged with clamping arms through pin shafts, the two clamping arms are hinged with pulling arms through pin shafts, and the pulling arms are hinged with the clamping arms through pin shafts. The tail end of the pulling arm is hinged to a pulling rod through a pin shaft, one end of the pulling rod is fixedly connected with a T-shaped rod, one end of the T-shaped rod is fixedly connected with a telescopic rod of an air cylinder, and the air cylinder is fixedly installed on the frame. A tool is sucked through the suction cup on the pushing plate on the L-shaped supporting plate, so that a workpiece can be pulled to the L-shaped supporting plate, the workpiece cannot slide off under the supporting of the L-shaped supporting plate, and after the workpiece is clamped by the two clamping arms, the workpiece cannot fall off from the L-shaped supporting plate under the limiting action of the limiting blocks on the clamping arms; and therefore, the workpiece is clamped more reliably.

Description

Technical Field

[0001] This utility model relates to the technical field of loading and unloading devices, specifically a multi-manipulator collaborative loading and unloading device based on machine vision. Background Technology

[0002] Industrial robots are multi-jointed manipulators or multi-degree-of-freedom robotic devices widely used in industrial fields. They possess a certain degree of automation and can perform various industrial processing and manufacturing functions using their own power and control capabilities. Industrial robots are widely used in various industrial sectors such as electronics, logistics, and chemicals.

[0003] Existing industrial robots have robotic arms that can grip workpieces. However, the robotic arms only use two gripping arms to hold the workpieces tightly. If the gripping force is too small, the workpiece may slip out during transfer. If the gripping force is too large, it may cause clamping marks on workpieces with low hardness, such as plastics, thus damaging the workpiece. Utility Model Content

[0004] In view of the problems existing in the current multi-manipulator collaborative loading and unloading device based on machine vision, this utility model is proposed.

[0005] Therefore, the purpose of this utility model is to provide a multi-manipulator collaborative loading and unloading device based on machine vision, which solves the problem that if the manipulator only uses two gripping arms to clamp the workpiece, the workpiece may slip off during transfer if the clamping force is too small, and if the clamping force is too large, it may cause clamping marks on workpieces with low hardness such as plastic, thus damaging the workpiece.

[0006] To solve the above-mentioned technical problems, according to one aspect of the present invention, the present invention provides the following technical solution:

[0007] A machine vision-based multi-manipulator collaborative loading and unloading device includes a robot, on which manipulators are mounted. Each manipulator includes a frame, with clamping arms hinged to both ends of the frame via pins. Each clamping arm is hinged to a pulling arm via a pin, and a pulling rod is hinged to the end of the pulling arm via a pin. One end of the pulling rod is fixedly connected to a T-shaped rod, and one end of the T-shaped rod is fixedly connected to the telescopic rod of a cylinder. The cylinder is fixedly mounted on the frame.

[0008] An L-shaped support plate is welded to the bottom of the frame, and a first electric push rod is mounted on the L-shaped support plate. The other end of the first electric push rod is connected to a push plate.

[0009] As a preferred embodiment of the multi-manipulator collaborative loading and unloading device based on machine vision described in this utility model, wherein: a first support connecting seat is welded on the L-shaped support plate, a first electric push rod is inserted into the inner wall of the first support connecting seat, and the first electric push rod and the first support connecting seat are fixed by bolts;

[0010] A second support connector is welded onto the push plate. A first electric push rod is inserted into the inner wall of the second support connector. The first electric push rod and the second support connector are fixed together by bolts.

[0011] As a preferred embodiment of the multi-manipulator collaborative loading and unloading device based on machine vision described in this utility model, the end of the L-shaped support plate is sloping, and the end of the clamping arm is welded with a limit block.

[0012] As a preferred embodiment of the multi-manipulator collaborative loading and unloading device based on machine vision described in this utility model, the robot includes a support frame, a bearing seat is mounted on the support frame, a base is rotatably connected to the bearing seat via a bearing, a fixed arm is fixedly mounted on the base, a fixed seat is hinged to the end of the fixed arm via a pin, a second electric push rod is hinged between the fixed seat and the base, and a third electric push rod is fixedly mounted on the fixed seat.

[0013] As a preferred embodiment of the multi-manipulator collaborative loading and unloading device based on machine vision described in this utility model, a U-shaped plate is welded to the frame, a mounting base is welded to the end of the third electric push rod, and the U-shaped plate and the mounting base are welded together.

[0014] As a preferred embodiment of the multi-manipulator collaborative loading and unloading device based on machine vision described in this utility model, a servo motor is fixedly installed on the bracket, and the output shaft of the servo motor is connected to the base for transmission.

[0015] As a preferred embodiment of the multi-manipulator collaborative loading and unloading device based on machine vision described in this utility model, an active synchronous wheel is fixedly installed on the output shaft of the servo motor, and a driven synchronous wheel is fixedly installed on the base. The active synchronous wheel and the driven synchronous wheel are connected by a synchronous belt drive.

[0016] Compared with existing technologies:

[0017] 1. By setting an L-shaped support plate at the bottom of the robot, the tool is held by the suction cup on the push plate of the L-shaped support plate, so that the workpiece can be pulled onto the L-shaped support plate. The workpiece will not slip under the support of the L-shaped support plate. After the two clamping arms clamp the workpiece, the workpiece will not fall off the L-shaped support plate under the limiting action of the limiting block on the clamping arm, so that the workpiece clamping is more reliable.

[0018] 2. With the L-shaped support plate supporting the workpiece, the clamping arm does not need to clamp the workpiece too tightly, thus preventing scratches from appearing on the workpiece and avoiding damage from clamping. Attached Figure Description

[0019] Figure 1 This is a structural schematic diagram of the present invention;

[0020] Figure 2 Provided by this utility model Figure 1 Enlarged view of the robotic arm;

[0021] Figure 3 Provided by this utility model Figure 2 A partial schematic diagram;

[0022] Figure 4 A schematic diagram of the machine vision provided by this utility model.

[0023] In the diagram: 1. Bracket; 2. Servo motor; 3. Bearing seat; 5. Base; 6. Fixed arm; 7. Second electric push rod; 8. Fixed seat; 9. Third electric push rod; 10. Mounting seat; 11. 3D camera; 12. Frame; 13. U-shaped plate; 14. Clamping arm; 141. Limiting block; 15. L-shaped support plate; 16. Push plate; 17. Cylinder; 18. Pull rod; 19. T-shaped rod; 20. Pull arm; 21. First electric push rod; 22. Second support connecting seat; 23. First support connecting seat. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this utility model clearer, the embodiments of this utility model will be described in further detail below with reference to the accompanying drawings.

[0025] This utility model provides a multi-robotics collaborative loading and unloading device based on machine vision. Please refer to [link / reference]. Figure 1-4 The system includes a robot equipped with a robotic arm. The robotic arm includes a frame 12, with clamping arms 14 hinged to both ends of the frame 12 via pins. Limiting blocks 141 are welded to the ends of the clamping arms 14. When the two clamping arms 14 clamp the workpiece, the two limiting blocks 141 can limit the workpiece to prevent it from falling off the L-shaped support plate 15. Each clamping arm 14 is hinged to a pulling arm 20 via pins. The end of the pulling arm 20 is hinged to a pulling rod 18 via pins. One end of the pulling rod 18 is fixedly connected to a T-shaped rod 19, and one end of the T-shaped rod 19 is fixedly connected to the telescopic rod of a cylinder 17. The cylinder 17 is fixedly mounted on the frame 12.

[0026] An L-shaped support plate 15 is welded to the bottom of the frame 12. The end of the L-shaped support plate 15 is sloping, so that the sloping end of the L-shaped support plate 15 is placed at the bottom of the workpiece. Thus, during the movement of the robot arm, the workpiece can be moved more easily onto the L-shaped support plate 15. A first electric push rod 21 is installed on the L-shaped support plate 15. Specifically, a first support connecting seat 23 is welded to the L-shaped support plate 15. The first electric push rod 21 is inserted into the inner wall of the first support connecting seat 23. The first electric push rod 21 and the first support connecting seat 23 are fixed together by bolts. The other end of the first electric push rod 21 is connected to a push plate 16. Specifically, a second support connecting seat 22 is welded to the push plate 16. The first electric push rod 21 is inserted into the inner wall of the second support connecting seat 22. The first electric push rod 21 and the second support connecting seat 22 are fixed together by bolts. A suction cup is installed on the push plate 16. The air outlet of the suction cup is connected to an air extraction device (such as an air pump) through a pipe.

[0027] The robot includes a support frame 1, on which a bearing seat 3 is mounted. The bearing seat 3 is rotatably connected to a base 5 via a bearing. A fixed arm 6 is fixedly mounted on the base 5. The end of the fixed arm 6 is hinged to a fixed seat 8 via a pin. A second electric push rod 7 is hinged together between the fixed seat 8 and the base 5. A third electric push rod 9 is fixedly mounted on the fixed seat 8.

[0028] A U-shaped plate 13 is welded onto the frame 12, and a mounting base 10 is welded to the end of the third electric push rod 9. The U-shaped plate 13 and the mounting base 10 are welded together.

[0029] A servo motor 2 is fixedly mounted on the bracket 1. The output shaft of the servo motor 2 is connected to the base 5 via a transmission. Specifically, an active synchronous pulley is fixedly mounted on the output shaft of the servo motor 2, and a driven synchronous pulley is fixedly mounted on the base 5. The active synchronous pulley and the driven synchronous pulley are connected by a synchronous belt.

[0030] It also includes machine vision, specifically multiple robot body modules that control multiple robots; a deep learning algorithm module that uses a novel deep convolutional neural network learning algorithm to process target detection, recognition, localization, and guidance control; an AI cloud processing platform module containing an AI Engine responsible for detecting, recognizing, and analyzing target data; an AI vision guidance control system that provides optimized control strategies to obtain switching trajectories; and a vision and communication interaction module that enables communication between the vision system and the control system. The deep learning algorithm module consists of a 3D vision workpiece detection system, a 3D vision workpiece recognition system, and a 3D fixture vision positioning system. The deep learning algorithm module is integrated with the AI ​​cloud processing platform module, which in turn is integrated with the robot body module, transmitting the analysis results to the robot body module. The electric cylinder closed-loop control system, tooling fixture control module, automatic loading / unloading robot module, and vision and communication interaction module are all interactively connected to the robot body module. The AI ​​vision guidance control system is interactively connected to both the tooling fixture control module and the vision and communication interaction module. A 3D camera is also mounted on the mounting base.

[0031] In practical use, the base 5 is driven to rotate by the servo motor 2, and the robot arm is moved by the extension and retraction of the second electric push rod 7 and the third electric push rod 9, so that the L-shaped support plate 15 is located at the bottom of the workpiece to be clamped. The first electric push rod 21 extends and drives the push plate 16 to move until the suction cup on the push plate 16 contacts the workpiece and sucks it up. The first electric push rod 21 retracts and drives the tool to move onto the L-shaped support plate 15. The cylinder 17 drives its extension rod to retract, so that the two clamping arms 14 clamp the workpiece. With the support of the L-shaped support plate 15, the workpiece will not fall off the clamping arms 14, and with the limit block 141 limiting it, the workpiece will not fall off the L-shaped support plate 15.

[0032] Although the present invention has been described above with reference to embodiments, various modifications can be made and components can be replaced with equivalents without departing from the scope of the present invention. In particular, as long as there is no structural conflict, the features in the embodiments disclosed in this invention can be combined with each other in any way. The lack of an exhaustive description of these combinations in this specification is merely for the sake of brevity and resource conservation. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A multi-robot collaborative feeding and unloading device based on machine vision, comprising a robot, wherein a robot hand is installed on the robot, characterized in that: Said mechanical arm includes a frame (12), both ends of the frame (12) are hinged with clamping arms (14) through a pin shaft, both clamping arms (14) are hinged with pulling arms (20) through a pin shaft, the end of the pulling arm (20) is hinged with a pulling rod (18) through a pin shaft, one end of the pulling rod (18) is fixedly connected with a T-shaped rod (19), one end of the T-shaped rod (19) is fixedly connected with the telescopic rod of a cylinder (17), and the cylinder (17) is fixedly installed on the frame (12); The bottom of the frame (12) is welded with an L-shaped supporting plate (15), a first electric push rod (21) is installed on the L-shaped supporting plate (15), and the other end of the first electric push rod (21) is connected with a pushing plate (16).

2. The multi-robot collaborative loading and unloading device based on machine vision according to claim 1, characterized in that, The L-shaped supporting plate (15) is welded with a first supporting connecting seat (23), the first electric push rod (21) is inserted into the inner wall of the first supporting connecting seat (23), and the first electric push rod (21) and the first supporting connecting seat (23) are fixed through bolts; The pushing plate (16) is welded with a second supporting connecting seat (22), the first electric push rod (21) is inserted into the inner wall of the second supporting connecting seat (22), and the first electric push rod (21) and the second supporting connecting seat (22) are fixed through bolts.

3. The multi-robot collaborative loading and unloading device based on machine vision according to claim 1, characterized in that, The end of the L-shaped supporting plate (15) is inclined, and the end of the clamping arm (14) is welded with a limiting block (141).

4. The multi-robot collaborative loading and unloading device based on machine vision according to claim 1, characterized in that, The robot includes a support (1), a bearing seat (3) is installed on the support (1), the bearing seat (3) is rotatably connected with a base (5) through a bearing, a fixed arm (6) is fixedly installed on the base (5), the end of the fixed arm (6) is hinged with a fixed seat (8) through a pin shaft, a second electric push rod (7) is hingedly connected between the fixed seat (8) and the base (5), and a third electric push rod (9) is fixedly installed on the fixed seat (8).

5. The multi-robot collaborative loading and unloading device based on machine vision according to claim 4, characterized in that, The frame (12) is welded with a U-shaped plate (13), the end of the third electric push rod (9) is welded with a mounting seat (10), and the U-shaped plate (13) and the mounting seat (10) are welded. 6.The machine vision-based multi-robot collaborative loading and unloading device according to claim 4, wherein, The support (1) is fixedly installed with a servo motor (2), and the output shaft of the servo motor (2) is in transmission connection with the base (5).

7. The multi-robot collaborative loading and unloading device based on machine vision according to claim 6, characterized in that, The output shaft of the servo motor (2) is fixedly installed with a driving synchronous wheel, the base (5) is fixedly installed with a driven synchronous wheel, and the driving synchronous wheel and the driven synchronous wheel are in transmission connection through a synchronous belt.

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