High-precision industrial robot based on vision

Abstract

The utility model discloses a kind of high-precision industrial robots based on vision, including main support box, the bottom surface symmetry thread fixed connection of main support box has moving bottom wheel, the inside edge fixed connection of main support box has control system electric box, visual computer mainframe is fixedly connected in the side edge of main support box away from control system electric box, the top surface horizontal fixed connection of main support box has Y axle rod, the top surface horizontal of main support box is provided with X axle rod, the top surface horizontal fixed setting of main support box has material taking tray, completely abandon all pneumatic element, adopt electric vacuum generator, reduce the possible failure of pneumatic system, such as air cylinder air leakage, pneumatic vacuum generator failure etc., improve the stability and reliability of system. Meanwhile, full servo drive and real-time, synchronous motion control network, ensure the stability and accuracy of manipulator movement, reduce the failure rate.

Description

Technical Field

[0001] This utility model relates to the field of industrial robot technology, specifically a vision-based high-precision industrial robot. Background Technology

[0002] In automated sorting production in industries such as electronic components and small hardware, vision-guided robots have become standard equipment. With industrial upgrading, higher demands are being placed on sorting speed, accuracy, intelligence, and flexible production. Not only is rapid and accurate grasping required, but also precise angular orientation of materials according to downstream process requirements.

[0003] Disadvantages of existing technology: 1. Poor real-time performance: Large communication delay between vision and motion units.

[0004] 2. Low control accuracy: The pneumatic actuator has position drift at the end of the stroke, the pressure control is inaccurate, and the rotation angle is limited and inaccurate.

[0005] 3. Poor system rigidity and low efficiency: slow pneumatic response and difficulty in breaking through the cycle time; dependent on air compressor, high energy consumption and loud noise.

[0006] 4. Low level of intelligence and informatization: The visual algorithm has poor adaptability and is disconnected from the upper-level management system. Utility Model Content

[0007] The purpose of this invention is to provide a vision-based high-precision industrial robot to solve the problems mentioned in the background art.

[0008] To achieve the above objectives, this utility model provides the following technical solution: a vision-based high-precision industrial robot, comprising a main support box, with movable casters symmetrically threadedly connected to the bottom surface of the main support box, a control system electrical box fixedly connected to the inner side of the main support box, a vision computer host fixedly connected to the side of the main support box away from the control system electrical box, a Y-axis rod horizontally fixedly connected to the top surface of the main support box, an X-axis rod horizontally arranged on the top surface of the main support box, a material picking tray horizontally fixedly arranged on the top surface of the main support box, a material discharging tray horizontally fixedly arranged on the top surface of the main support box, a display connected to the top surface of the main support box, a camera arranged on the top surface of the main support box, a supplementary light arranged on the top surface of the main support box, a PPU mechanism a-axis fixedly arranged on the top surface of the main support box, and a rotation axis arranged on the side of the PPU mechanism a-axis.

[0009] Preferably, the main support box adopts a frame-type box structure with four movable bottom wheels. The four movable bottom wheels are provided with limit structures on their sides. The four movable bottom wheels are all fixedly connected to the bottom surface of the main support box near the four corner screw holes by corresponding threaded screws at the top.

[0010] Preferably, the control system electrical box is fixedly installed on the inner bottom surface of the main support box near one side, and the control system electrical box and the vision computer host are electrically connected to each other.

[0011] Preferably, the Y-axis is horizontally fixedly connected to the top surface of the main support box near one side, and the X-axis is horizontally positioned on the top surface of the Y-axis. The X-axis and Y-axis are stacked on top of each other in an L-shape and arranged near the edge of the top surface of the main support box.

[0012] Preferably, the material picking tray and the material dispensing tray are arranged parallel to each other between the X-axis and the Y-axis. The display is connected to the top side of the main support box via a bracket, and the display and the visual computer host are electrically connected to each other. An operation keyboard structure is provided on the side of the display.

[0013] Preferably, the camera is connected to the top of the main support box via a bracket, the fill light is connected to the camera bracket, and the camera and the vision computer host are electrically connected to each other. The camera is a 12-megapixel Hikvision MV-CH600-10GM industrial camera, connected via a gigabit Ethernet interface. The PPU mechanism a-axis is a robotic arm structure with a high-rigidity gantry structure. The X, Y, and Z axes are driven by servo motors in conjunction with precision ball screws, and the R-axis servo motor is directly mounted at the end of the Z-axis.

[0014] Compared with the prior art, the beneficial effects of this utility model are: This type of vision-based high-precision industrial robot is used in daily operations; 1. Speed ​​and Precision Advantages: EtherCAT bus and high-order motion planning ensure a cycle time of ≤0.5 seconds and a combined accuracy of ±0.05mm. Full servo drive provides control precision far exceeding that of high-performance pneumatic systems.

[0015] 2. High flexibility: The servo R-axis can achieve precise rotation at any angle, and the servo Z-axis can achieve precise control of pressing depth. Product formulas can be quickly switched through the program, making it extremely flexible.

[0016] 3. High reliability and low maintenance: Eliminating the pneumatic system avoids failure points such as oil-water separation and air leakage, making the system more stable, easier to maintain, and significantly reducing energy consumption and noise.

[0017] 4. Advantages of Intelligent and Information-Based Operations: Deep learning algorithms enhance recognition robustness, and standard interfaces seamlessly connect to MES, laying the foundation for a digital workshop. Utilizing a 12-megapixel high-frame-rate industrial camera and a fully servo-driven four-axis PPU architecture, the X, Y, and Z axes are driven by servo motors in conjunction with precision ball screws, while the R-axis servo motor directly drives the vacuum suction cup. This enables precise control of the robot's position and posture, achieving high-precision material gripping and placement. Completely eliminating all pneumatic components and employing an electric vacuum generator reduces potential pneumatic system failures, such as cylinder leaks and vacuum generator malfunctions, improving system stability and reliability. Simultaneously, the fully servo-driven and real-time, synchronous motion control network ensures the smoothness and accuracy of the robot's movement, reducing the failure rate. Attached Figure Description

[0018] Figure 1 This is a three-dimensional front view of the present invention; Figure 2 This is a three-dimensional top view of the present invention; Figure 3 This is a front view of the three-dimensional connection of the tabletop of this utility model; Figure 4 This is a schematic diagram of the three-dimensional connection back structure of the tabletop of this utility model.

[0019] In the diagram: 1. Main support box; 2. Movable base wheel; 3. Control system electrical box; 4. Vision computer host; 5. Y-axis; 6. X-axis; 7. Picking tray; 8. Discharging tray; 9. Monitor; 10. Camera; 11. Fill light; 12. PPU mechanism a-axis; 13. Rotation axis. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0021] Example 1: like Figure 1-4As shown, this utility model provides a technical solution: a vision-based high-precision industrial robot, including a main support box 1. The bottom surface of the main support box 1 is symmetrically and threadedly connected with movable wheels 2. The main support box 1 adopts a frame-type box structure. There are four movable wheels 2, and the sides of the four movable wheels 2 are provided with limit structures. The four movable wheels 2 are all threadedly and fixedly connected to the bottom surface of the main support box 1 near the four corner screw holes through the top screws. The inner side of the main support box 1 is fixedly connected with a control system electrical box 3. The main support box 1 is fixedly connected with a vision computer host 4 on the side away from the control system electrical box 3. The control system electrical box 3 is fixedly located on the inner bottom surface of the main support box 1 near one side. The control system electrical box 3 and the vision computer host 4 are electrically connected to each other. The top surface of the main support box 1 is horizontally fixedly connected with a Y-axis rod 5.

[0022] Four movable base wheels 2 are fixed to the bottom surface of the main support box 1 near the four corner screw holes via corresponding screws at the top. The main support box 1 adopts a frame-type box structure, and the control system electrical box 3 and vision computer host 4 are fixedly connected inside. The two are electrically connected to each other, providing control and vision processing capabilities for the entire system.

[0023] Example 2: like Figure 1-4As shown, this utility model provides a technical solution: a high-precision industrial robot based on vision, including a main support box 1. The bottom surface of the main support box 1 is symmetrically and threadedly connected with movable wheels 2. The main support box 1 adopts a frame-type box structure. There are four movable wheels 2, and the sides of the four movable wheels 2 are provided with limit structures. Each of the four movable wheels 2 is threadedly and fixedly connected to the bottom surface of the main support box 1 near the four corner screw holes via screws at the top. A control system electrical box 3 is fixedly connected to the inner side of the main support box 1. A vision computer host 4 is fixedly connected to the side of the main support box 1 away from the control system electrical box 3. The control system electrical box 3 is fixedly located on the inner bottom surface of the main support box 1 near one side. The control system electrical box 3 and the vision computer host 4 are electrically connected to each other. The top surface of the main support box 1 is water-resistant. A Y-axis rod 5 is fixedly connected to the top surface of the main support box 1. An X-axis rod 6 is horizontally arranged on the top surface of the main support box 1. The Y-axis rod 5 is horizontally fixedly connected to the top surface of the main support box 1 near one side. The X-axis rod 6 is horizontally arranged on the top surface of the Y-axis rod 5. The X-axis rod 6 and the Y-axis rod 5 are stacked in an L-shape and arranged near the edge of the top surface of the main support box 1. A material picking tray 7 and a material discharging tray 8 are horizontally fixedly arranged on the top surface of the main support box 1. A display 9 is connected to the top surface of the main support box 1. The material picking tray 7 and the material discharging tray 8 are arranged parallel to each other between the X-axis rod 6 and the Y-axis rod 5. The display 9 is connected to the top side of the main support box 1 via a bracket. The display 9 is electrically connected to the visual computer host 4. An operation keyboard structure is provided on the side of the display 9.

[0024] A material receiving tray 7 and a material discharging tray 8 are horizontally fixed on the top surface of the main support box 1, positioned parallel to each other between the X-axis rod 6 and the Y-axis rod 5, for placing materials to be processed and processed materials. A display 9 is connected to the side of the top surface of the main support box 1 via a bracket and is electrically connected to the vision computer host 4. An operation keyboard is located on its side for convenient system control and parameter setting by the operator.

[0025] Example 3: like Figure 1-4As shown, this utility model provides a technical solution: a vision-based high-precision industrial robot, including a main support box 1. The bottom surface of the main support box 1 is symmetrically and threadedly connected with movable wheels 2. The main support box 1 adopts a frame-type box structure. There are four movable wheels 2, and the sides of the four movable wheels 2 are provided with limit structures. Each of the four movable wheels 2 is threadedly and fixedly connected to the bottom surface of the main support box 1 near the four corner screw holes via screws at the top. A control system electrical box 3 is fixedly connected to the inner side of the main support box 1. The main support box 1 is located away from the control system electrical box 3. A vision computer host 4 is fixedly connected to one side of the main support box 1. The control system electrical box 3 is fixedly installed on the inner bottom surface of the main support box 1 near one side. The control system electrical box 3 and the vision computer host 4 are electrically connected to each other. A Y-axis rod 5 is horizontally fixedly connected to the top surface of the main support box 1. An X-axis rod 6 is horizontally installed on the top surface of the main support box 1. The Y-axis rod 5 is horizontally fixedly connected to the top surface of the main support box 1 near one side. The X-axis rod 6 is horizontally installed on the top surface of the Y-axis rod 5. The X-axis rod 6 and the Y-axis rod 5 are stacked on top of each other in an L-shape on the top surface of the main support box 1. Near the edge, a material picking tray 7 and a material dispensing tray 8 are horizontally fixedly mounted on the top surface of the main support box 1. A display 9 is connected to the top surface of the main support box 1. The material picking tray 7 and the material dispensing tray 8 are arranged parallel to each other between the X-axis rod 6 and the Y-axis rod 5. The display 9 is connected to the side of the top surface of the main support box 1 via a bracket, and the display 9 is electrically connected to the vision computer host 4. An operation keyboard structure is provided on the side of the display 9. A camera 10 and a supplementary light are provided on the top surface of the main support box 1. 11. A PPU mechanism a-axis 12 is fixedly installed on the top surface of the main support box 1. A rotating shaft 13 is installed on the side of the PPU mechanism a-axis 12. The camera 10 is connected to the top surface of the main support box 1 via a bracket. The supplementary light 11 is connected to the bracket of the camera 10 and installed. The camera 10 and the vision computer host 4 are electrically connected to each other. The camera 10 is a 12-megapixel Hikvision MV-CH600-10GM industrial camera, which is connected via a gigabit Ethernet interface. The PPU mechanism a-axis 12 is a robotic arm structure and adopts a high-rigidity gantry structure. The X, Y, and Z axes are driven by servo motors and precision ball screws. The R-axis servo motor is directly installed at the end of the Z-axis.

[0026] The PPU mechanism, with axis 12 as the robotic arm structure, adopts a high-rigidity gantry structure. The X, Y, and Z axes are driven by servo motors in conjunction with precision ball screws, while the R-axis servo motor is directly mounted at the end of the Z-axis. The H5U PLC acts as the EtherCAT master station, connecting four Huichuan servo drives via network cables to form a real-time, synchronous motion control network.

[0027] Working Principle: The main support box 1 adopts a frame-type box structure, with the control system electrical box 3 and vision computer host 4 fixedly connected inside. The two are electrically connected to each other, providing control and vision processing capabilities for the entire system. A Y-axis rod 5 is horizontally fixed on the top surface of the main support box 1, and an X-axis rod 6 is horizontally stacked on top of it. The two are arranged in an L-shape near the edge of the top surface of the main support box 1, providing a coordinate framework for the movement of the robot. At the same time, a material picking tray 7 and a material discharging tray 8 are also horizontally fixed on the top surface of the main support box 1, and are arranged parallel between the X-axis rod 6 and the Y-axis rod 5, for placing materials to be processed and processed materials. The display 9 is connected to the side of the top surface of the main support box 1 via a bracket and is electrically connected to the vision computer host 4. An operation keyboard structure is set on its side for convenient system control and parameter setting by the operator. During the operation of the equipment, the camera 10 acquires images of the materials in the picking tray 7 and transmits the acquired image information to the vision computer host 4 for processing. A deep learning-based visual algorithm model analyzes images and, through extensive sample training, adaptively identifies various defects in complex backgrounds. It accurately outputs the material's position (X, Y) and angle (R), i.e., the material's current angle (θ_m). This is connected to four Huichuan servo drive slave stations via network cables, forming a real-time, synchronous motion control network. The H5U PLC controls the PPU to move to the pickup point based on the material's position and angle information identified by the vision system. Simultaneously, it synchronously controls the R-axis to rotate to angle θ_m, ensuring the vacuum suction cup perfectly matches the material's angle before pickup, avoiding collisions or unstable pickup. After pickup, the Z-axis servo motor controls the end effector for precise lifting and lowering, achieving soft-contact gripping through current loop monitoring, followed by Z-axis elevation. During the PPU's idle movement to the placement point, the H5U PLC controls the R-axis servo motor to rotate, smoothly adjusting the material from the gripping angle θ_m to the target placement angle θ_p, fully utilizing the airborne movement time without additional pauses. Upon reaching the placement point, the Z-axis descends to place the material.

[0028] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A vision-based high-precision industrial robot, comprising a main support box (1), characterized in that: The bottom surface of the main support box (1) is symmetrically threaded with a movable bottom wheel (2). The inner side of the main support box (1) is fixedly connected with a control system electrical box (3). The side of the main support box (1) away from the control system electrical box (3) is fixedly connected with a vision computer host (4). The top surface of the main support box (1) is horizontally fixedly connected with a Y-axis rod (5). The top surface of the main support box (1) is horizontally set with an X-axis rod (6). The top surface of the main support box (1) is horizontally fixedly set with a material picking plate (7). The top surface of the main support box (1) is horizontally fixedly set with a material discharging plate (8). The top surface of the main support box (1) is connected with a display (9). The top surface of the main support box (1) is set with a camera (10). The top surface of the main support box (1) is set with a supplementary light (11). The top surface of the main support box (1) is fixedly set with a PPU mechanism a-axis (12). The side of the PPU mechanism a-axis (12) is set with a rotating shaft (13).

2. The vision-based high-precision industrial robot according to claim 1, characterized in that: The main support box (1) adopts a frame box structure with four movable bottom wheels (2). The four movable bottom wheels (2) are provided with a limit structure on the side. The four movable bottom wheels (2) are all fixedly connected to the bottom surface of the main support box (1) near the four corner screw holes by the screws at the top.

3. The vision-based high-precision industrial robot according to claim 1, characterized in that: The control system electrical box (3) is fixedly installed on the inner bottom surface of the main support box (1) near one side. The control system electrical box (3) and the vision computer host (4) are electrically connected to each other.

4. The vision-based high-precision industrial robot according to claim 1, characterized in that: The Y-axis rod (5) is horizontally fixedly connected to the top surface of the main support box (1) near one side. The X-axis rod (6) is horizontally located on the top surface of the Y-axis rod (5). The X-axis rod (6) and the Y-axis rod (5) are stacked on top of each other in an L-shape and arranged near the edge of the top surface of the main support box (1).

5. A vision-based high-precision industrial robot according to claim 1, characterized in that: The material picking tray (7) and the material dispensing tray (8) are arranged parallel to each other between the X-axis rod (6) and the Y-axis rod (5). The display (9) is connected to the top side of the main support box (1) by a bracket, and the display (9) and the visual computer host (4) are electrically connected to each other. The side of the display (9) is provided with an operation keyboard structure.

6. A vision-based high-precision industrial robot according to claim 1, characterized in that: The camera (10) is connected to the top of the main support box (1) via a bracket. The fill light (11) is connected to the bracket of the camera (10) and is electrically connected to the visual computer host (4). The camera (10) is a 12-megapixel Hikvision MV-CH600-10GM industrial camera, which is connected via a gigabit Ethernet interface. The PPU mechanism a-axis (12) is a robotic arm structure with a high-rigidity gantry structure. The X, Y, and Z axes are driven by servo motors and precision ball screws. The R-axis servo motor is directly installed at the end of the Z-axis.

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