An industrial robot vision grasping robotic arm

Abstract

This utility model discloses an industrial robot vision-based grasping robotic arm, relating to the field of robotic arm technology. It includes a robotic arm mechanism and a vision inspection mechanism. The robotic arm mechanism includes a robotic arm and a material-grabbing component disposed at the free end of the robotic arm. The vision inspection mechanism includes a first vision device and a second vision device for obtaining image information of the parts. The first vision device is rotatably mounted on the free end of the robotic arm, and the second vision device is height-adjustable and mounted at the starting position of the object being transported. The advantages of this utility model are that the height-adjustable second vision device can quickly adapt to the global scanning needs of parts of different heights, and the rotatable first vision device can flexibly avoid obstructions when replacing large or special material-grabbing components (clamps, suction heads) that may obstruct the field of view, ensuring a clear local field of view.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically to an industrial robot vision grasping robotic arm. Background Technology

[0002] Industrial robot vision grasping systems are widely used in automated production lines for the identification, positioning, and handling of parts. Traditional systems typically use a single fixed vision device at the end of the robotic arm to guide its movement. However, this approach has significant drawbacks: the material handling components at the end of the robotic arm (such as grippers or suction cups) can easily obstruct the camera's field of view due to structural or size limitations, especially when replacing them with dedicated components. Existing solutions often avoid this obstruction by adding complex gimbals or redundant cameras, leading to increased system costs and more complex control logic. Utility Model Content

[0003] The purpose of this invention is to address the problem in the prior art where the material handling component at the end of a robotic arm obstructs the vision device, and to provide an industrial robot vision-based grasping robotic arm.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: an industrial robot vision grasping robotic arm, which includes a robotic arm mechanism and a vision inspection mechanism; the robotic arm mechanism includes a robotic arm and a material handling component disposed at the free end of the robotic arm; the vision inspection mechanism includes a first vision device and a second vision device for image information of the parts; the first vision device is rotatably mounted on the free end of the robotic arm; and the second vision device is vertically mounted at the starting position of the object being transported.

[0005] Furthermore, the robotic arm includes a base, a first robotic arm, a first drive unit, and a second drive component. The base is equipped with a first drive unit for driving the first robotic arm to rotate, and the first robotic arm is equipped with a second drive component for driving the material handling assembly to move.

[0006] Furthermore, the first vision device includes a mounting plate, a rotating assembly, a first industrial camera, and a first light source. The mounting plate is mounted on the free end of the robotic arm via the rotating assembly, and the first industrial camera and the first light source are also provided on the mounting plate.

[0007] Furthermore, the second vision device includes a support column, a sliding mounting plate, a second industrial camera, a second light source, and a light shield. The support column is installed at the starting position of the object being transported, and a sliding mounting plate is installed on the support column. A light shield and a second industrial camera and a second light source located within the light shield are provided at the end of the sliding mounting plate.

[0008] Furthermore, the support column is provided with height markings.

[0009] Furthermore, the sliding mounting plate includes a plate body movably mounted on the support column and a locking component, wherein the locking component is fitted onto the support column to limit the position of the plate body.

[0010] After adopting the above technical solution, the beneficial effects of this utility model are as follows:

[0011] The second vision device can be raised and lowered to quickly adapt to the global scanning needs of parts of different heights. The first vision device can be rotated and adjusted to flexibly avoid obstructions when replacing large or special material handling components (clamps, suction heads) that may block the field of view, ensuring a clear local field of view. Attached Figure Description

[0012] 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.

[0013] Figure 1 This is a schematic diagram of the structure of this utility model.

[0014] Figure 2 This is a schematic diagram of the robotic arm mechanism in this utility model.

[0015] Figure 3 This is a schematic diagram of the structure of the first vision device in this utility model.

[0016] Figure 4 This is a schematic diagram of the structure of the second vision device in this utility model.

[0017] Explanation of reference numerals in the attached drawings: 1. Robotic arm mechanism; 11. Robotic arm; 111. Base; 112. First robotic arm; 113. First drive unit; 114. Second drive component; 12. Material handling assembly; 2. Vision inspection mechanism; 21. First vision device; 211. Mounting plate; 212. Rotating assembly; 213. First industrial camera; 214. First light source; 22. Second vision device; 221. Support column; 2211. Height scale; 2222. Sliding mounting plate; 2221. Plate body; 2222. Locking component; 2222. Second industrial camera; 223. Second light source; 224. Light shield; 225. Detailed Implementation

[0018] See Figure 1-4As shown, the technical solution adopted in this specific embodiment is: an industrial robot vision-based grasping robotic arm, which includes a robotic arm mechanism 1 and a vision inspection mechanism 2. The robotic arm mechanism 1 includes a robotic arm 11 and a material handling assembly 12 disposed at the free end of the robotic arm 11. The vision inspection mechanism 2 includes a first vision device 21 and a second vision device 22 for image information of the parts. The first vision device 21 is rotatably mounted on the free end of the robotic arm 11, and the second vision device 22 is vertically mounted at the starting position of the object being transported.

[0019] The specific robotic arm 11 includes a base 111, a first robotic arm 112, a first drive unit 113, and a second drive component 114. The base 111 is equipped with a first drive unit 113 for driving the first robotic arm 112 to rotate, and the first robotic arm 112 is equipped with a second drive component 114 for driving the material handling assembly 12 to move.

[0020] The two motion axes (rotational + linear) are relatively independent in physical implementation and control. This makes the control algorithm simpler and more direct, allowing each axis to be planned independently for position, velocity, and acceleration, reducing the complexity caused by motion coupling and improving control accuracy and response speed.

[0021] The specific first vision device 21 includes a mounting plate 211, a rotating assembly 212, a first industrial camera 213, and a first light source 214. The mounting plate 211 is supported on the free end of the robotic arm 11 via the rotating assembly 212, and the first industrial camera 213 and the first light source 214 are also mounted on the mounting plate 211. The rotating assembly 212 contains a locking device (a rotating assembly 212 with a locking device is a conventional technique in the field and is not the core content claimed in this patent, so it will not be described in detail here).

[0022] The specific second vision device 22 includes a support column 221, a sliding mounting plate 222, a second industrial camera 223, a second light source 224, and a light shield 225. The support column 221, with height markings 2211, is installed at the starting position of the object being transported. The sliding mounting plate 222 is mounted on the support column 221. A light shield 225 and the second industrial camera 223 and second light source 224 are located within the light shield 225 at its end. More specifically, the sliding mounting plate 222 includes a plate body 2221 movably mounted on the support column 221 and a locking member 2222. The locking member 2222 is fitted onto the support column 221 to limit the position of the plate body 2221.

[0023] Support column 221 with height scale 2211: provides direct visual reference, facilitates quick adjustment of camera and light source to preset height, reduces manual measurement error, and improves repeatability accuracy.

[0024] The working principle of this utility model:

[0025] Since the parts to be gripped are different, it is sometimes necessary to change the gripping components. Some gripping components 12 may block the field of view of the first industrial camera 213 (e.g., large clamps, special suction cup heads, etc.). Therefore, the position of the first industrial camera 213 and the first light source 214 can be adjusted by rotating the component 212 to avoid the gripping component 12. After the adjustment is completed.

[0026] 1. Starting position preparation and global scan:

[0027] The object to be transported (the part to be grabbed) is placed at a preset starting position.

[0028] 2. The second vision device 22 is activated:

[0029] The sliding mounting plate 222 is adjusted to a suitable height position by loosening the locking piece 2222 according to the approximate height of the part (refer to the height scale 2211 on the support column 221), and then locked in place.

[0030] The second industrial camera 223, under the illumination of the second light source 224 (with the light shield 225 effectively blocking ambient stray light interference to ensure imaging quality), performs a global top-down or side-view scan of the parts at the starting position.

[0031] The camera captures high-resolution images of the parts.

[0032] 3. Starting position part identification and coarse positioning:

[0033] The image processing system analyzes the images transmitted from the second industrial camera 223:

[0034] Calculate the precise coordinates of the part in the starting position plane (X, Y direction).

[0035] This positional information (mainly X and Y coordinates, and possibly including approximate angles) is sent to the control system of the robotic arm 11.

[0036] 4. Robotic arm 11 moves back to the starting position:

[0037] The control system of robotic arm 11, based on the received part position information:

[0038] The first drive unit 113 drives the first robotic arm 112 to rotate relative to the base 111, performing a wide range of position adjustments.

[0039] The second drive component 114 drives the material handling assembly 12 to perform telescopic or lifting movements to make fine adjustments to the end position.

[0040] The movement of the robotic arm 11 is controlled to quickly move the material handling assembly 12 (along with the first vision device 21 on it) to a position close to the part gripping point (based on the coarse positioning information provided by the second vision).

[0041] 5. Fine-grained end-effector positioning and attitude confirmation:

[0042] When the material handling component 12 approaches the target position:

[0043] 6. First vision device 21 is activated:

[0044] The first industrial camera 213, illuminated by the first light source 214, performs high-precision imaging of a local area of ​​the part gripping point. This perspective is typically closer to the gripping perspective of the end effector of the robotic arm 11.

[0045] The image processing system analyzes the images transmitted from the first industrial camera 213:

[0046] The precise positional deviation (ΔX, ΔY) of the part relative to the material handling assembly 12 (mechanical claw / suction cup, etc.) is calculated.

[0047] 7. Precise capture and execution:

[0048] The robotic arm 11 control system drives the second drive unit 114 (and may also fine-tune the first drive unit 113) to perform extremely precise compensation movements based on the high-precision position and attitude deviation information (ΔX, ΔY, θ) provided by the first vision device 21.

[0049] The end effector of the robotic arm 11 (the material handling assembly 12) moves to the final precise gripping position and posture.

[0050] The material handling assembly 12 performs gripping actions (such as mechanical gripper closing, suction cup adsorption, etc.) to reliably grip the parts.

[0051] 8. Handling and placement (optional visual verification):

[0052] The robotic arm 11 moves the gripped parts to the target location (such as an assembly station, conveyor belt, or material tray).

[0053] (Optional step) Before placement, the first vision device 21 can be restarted to quickly confirm whether the part is still in the grasping state and in the correct posture (anti-drop or offset detection).

[0054] The material handling component 12 performs a placement action at the target location (such as opening the mechanical gripper, releasing the suction cup air, etc.).

[0055] 9. Return to standby / loop:

[0056] After placement, the robotic arm 11 returns to the preset standby position or moves directly to the next starting position to prepare to grab the next part.

[0057] Return to step 1 and begin a new crawling process.

[0058] If adjusting the positions of the first industrial camera 213 and the first light source 214 by rotating component 212 still cannot avoid the field of view being blocked by the material handling component 12, then global positioning is performed only by the second vision device 22.

[0059] The above description is only used to illustrate the technical solution of this utility model and is not intended to limit it. Any other modifications or equivalent substitutions made by those skilled in the art to the technical solution of this utility model, as long as they do not depart from the spirit and scope of the technical solution of this utility model, should be covered within the scope of the claims of this utility model.

Claims

1. An industrial robot vision-based grasping robotic arm, characterized in that: The system includes a robotic arm mechanism (1) and a vision inspection mechanism (2); the robotic arm mechanism (1) includes a robotic arm (11) and a material handling assembly (12) disposed at the free end of the robotic arm (11); the vision inspection mechanism (2) includes a first vision device (21) and a second vision device (22) for image information of the parts; the first vision device (21) is rotatably mounted on the free end of the robotic arm (11); and the second vision device (22) is vertically mounted at the starting position of the object being transported.

2. The industrial robot vision grasping robotic arm according to claim 1, characterized in that: The robotic arm (11) includes a base (111), a first robotic arm (112), a first drive unit (113), and a second drive member (114). The base (111) is equipped with a first drive unit (113) for driving the first robotic arm (112) to rotate, and the first robotic arm (112) is equipped with a second drive member (114) for driving the material handling assembly (12) to move.

3. The industrial robot vision grasping robotic arm according to claim 1, characterized in that: The first vision device (21) includes a mounting plate (211), a rotating assembly (212), a first industrial camera (213), and a first light source (214). The mounting plate (211) is mounted on the free end of the robotic arm (11) via the rotating assembly (212), and the first industrial camera (213) and the first light source (214) are also provided on the mounting plate (211).

4. The industrial robot vision grasping robotic arm according to claim 1, characterized in that: The second vision device (22) includes a support column (221), a sliding mounting plate (222), a second industrial camera (223), a second light source (224), and a light shield (225). The support column (221) is installed at the starting position of the object being transported, and the sliding mounting plate (222) is installed on the support column (221). The end of the sliding mounting plate (222) is provided with a light shield (225) and the second industrial camera (223) and the second light source (224) located in the light shield (225).

5. The industrial robot vision grasping robotic arm according to claim 4, characterized in that: The support column (221) is provided with a height scale (2211).

6. The industrial robot vision grasping robotic arm according to claim 4, characterized in that: The sliding mounting plate (222) includes a plate body (2221) movably mounted on a support column (221) and a locking member (2222). The locking member (2222) is fitted on the support column (221) to limit the position of the plate body (2221).

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