A vision-controlled marking and palletizing robot workstation

Abstract

This utility model discloses a vision-controlled marking and palletizing robot workstation, belonging to the technical field of pipe fitting production equipment. It includes an articulated robot for transferring and palletizing workpieces, a first and second loading assembly for loading workpieces, and a conversion rotary table to assist the articulated robot in palletizing. This utility model utilizes a 3D high-definition vision system in conjunction with the articulated robot, resulting in a simple and convenient structure. It can plan operating processes based on the identified pipe fitting specifications, flexibly adapting to various products. It shifts the focus from human visual processing to machine operation, enabling the robot to acquire environmental information through visual sensors and achieve target recognition, positioning, and tracking through image processing technology without direct human intervention, thereby completing various complex operational tasks.

Description

Technical Field

[0001] This utility model relates to the field of pipe fitting production equipment technology, specifically a vision-controlled marking and palletizing robot workstation. Background Technology

[0002] In the industrial sector, robotics technology has undergone years of development and has become an important symbol of industrial modernization. With the rapid development of science and technology, human beings have increasingly higher requirements for the intelligence level of machines. As the representative of the most advanced artificial intelligence technology products, robots have always been a research hotspot for scientific researchers.

[0003] However, most industrial robots currently used in pipe fitting production still rely on the "teach-and-reproduce" method to complete their tasks. These robots can only perform point-to-point movements, resulting in significant shortcomings in trajectory accuracy, operational flexibility, and adaptability to complex tasks. Against this backdrop, the introduction of machine vision technology becomes particularly important. As a branch of artificial intelligence, machine vision consists of three main components: optical illumination, imaging systems, and visual information processing. It features a large amount of information acquisition, high detection accuracy, and a wide detection range. Applying machine vision to industrial robots enables them to autonomously detect and judge targets, improving their adaptability to the external environment. This is of great significance in addressing the problem of low flexibility and intelligence levels of industrial robots on production lines. Utility Model Content

[0004] The purpose of this invention is to provide a vision-controlled marking and palletizing robot workstation. By setting up a 3D high-definition vision system in conjunction with an articulated robot, the parts that traditionally require human eye processing are transferred to the machine. This allows the robot to acquire environmental information through vision sensors without direct human operation, and to identify, locate, and track targets through image processing technology, thereby completing various complex operational tasks and solving the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] A vision-controlled marking and palletizing robot workstation includes an articulated robot for transferring and palletizing workpieces, a first loading assembly and a second loading assembly for loading workpieces, and a conversion rotary table that cooperates with the articulated robot for palletizing.

[0007] The articulated robot is equipped with a 3D high-definition vision system for analyzing the surrounding environment and planning the robot's movements, and the grasping end of the articulated robot is equipped with an electro-permanent magnet assembly.

[0008] The first loading assembly includes a loading chain bed, and the second loading assembly includes a material frame body and a reciprocating trolley;

[0009] A palletizing position is installed on one side of the conversion rotary table, and a packing position is installed on the other side of the conversion rotary table.

[0010] Preferably, the outlet of the upper part chain bed is located on one side of the joint and the robot, and an automatic marking machine is provided between the outlet of the upper part chain bed and the joint robot.

[0011] Preferably, the reciprocating trolley is located on the side adjacent to the articulated robot and the upper chain bed, and a light rail is provided at the bottom of the reciprocating trolley, with track wheels for use with the light rail installed at the bottom of the reciprocating trolley.

[0012] Preferably, a material frame body is installed on the top of the reciprocating trolley, safety railings are installed on both sides of the reciprocating trolley, and a trolley linking system is installed at the bottom of the reciprocating trolley.

[0013] Preferably, the trolley linking system is connected to the drive shaft assembly and the driven shaft via a chain, and a switch control system is installed on one side of the trolley linking system.

[0014] Preferably, the conversion rotary table is located on the other side of the articulated robot, and the bottom center of the conversion rotary table is rotatably connected to the rotary table track system via a rotary table rotation axis.

[0015] Compared with the prior art, the beneficial effects of this utility model are:

[0016] This utility model uses a 3D high-definition vision system in conjunction with an articulated robot. It has a simple structure, is convenient and practical, and can plan the operation process according to the specifications of the identified pipe fittings. It can flexibly adapt to a variety of products and shift the parts that traditionally require human eyes to be processed to machines. This allows the robot to acquire environmental information through vision sensors and use image processing technology to identify, locate and track targets without direct human operation, thereby completing various complex operation tasks. Attached Figure Description

[0017] Figure 1 This is a side view of the structure of this utility model;

[0018] Figure 2 This is a top view of the structure of this utility model;

[0019] Figure 3 A top-view structural diagram of the reciprocating trolley;

[0020] Figure 4 A schematic diagram of the top and side views of the composite platform vehicle;

[0021] Figure 5 This is a schematic diagram of the side view structure of the rotary table.

[0022] In the diagram: 1. Articulated robot; 2. Loading chain bed; 3. Automatic marking machine; 4. Material frame body; 5. Reciprocating trolley; 6. Safety fence; 7. Electro-permanent magnet assembly; 8. Converter rotary table; 9. Packing position; 10. Palletizing position; 11. Drive shaft assembly; 12. Trolley linking system; 13. Light rail; 14. Switch control system; 15. Chain; 16. Driven shaft; 17. Rotary table track system; 18. Rotary table rotation shaft. Detailed Implementation

[0023] 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.

[0024] Please see Figures 1-5 This utility model provides a technical solution:

[0025] A vision-controlled marking and palletizing robot workstation includes an articulated robot 1 for transferring and palletizing workpieces. The articulated robot 1 integrates a 3D high-definition vision system for analyzing the surrounding environment and planning the movements of the articulated robot 1. An electro-permanent magnet assembly 7 is installed at the gripping end of the articulated robot 1. The articulated robot 1 is a 500KG articulated robot 1 and includes an electronic control system. The 3D high-definition vision system includes an image acquisition unit, a vision controller, an algorithm library, and a communication unit.

[0026] By using a 3D high-definition vision system in conjunction with the articulated robot 1, the operating process can be planned according to the identified pipe specifications, flexibly adapting to various products. This shifts the traditional human-centric processing to the machine, enabling the articulated robot 1 to acquire environmental information through visual sensors and achieve target recognition, positioning, and tracking through image processing technology without direct human intervention, thereby completing various complex operational tasks. The 3D high-definition vision system can identify the position, size, and surface features of the pipe, generating a "target task list." The 3D high-definition vision system transmits the three-dimensional coordinates and posture information of the pipe to the electronic control system of the articulated robot 1. The electronic control system of the articulated robot 1, combined with its own kinematic model, plans the optimal grasping path. The articulated robot 1 moves along the planned path to the grasping position and uses the electro-permanent magnet component 7 to attract the pipe. In the marking process, the 3D high-definition vision system guides the robot to accurately position the pipe in the marking machine's working area. In the palletizing process, the palletizing method is dynamically planned based on the visually measured pipe parameters.

[0027] It also includes a first loading assembly and a second loading assembly for loading parts. The first loading assembly includes a loading chain bed 2, the outlet of which is located on one side of the joint and robot. An automatic marking machine 3 is installed between the outlet of the loading chain bed 2 and the joint robot 1. The second loading assembly includes a material frame body 4 and a reciprocating trolley 5. The reciprocating trolley 5 is located on the side of the joint robot 1 adjacent to the loading chain bed 2. A light rail 13 is installed at the bottom of the reciprocating trolley 5. Track wheels that cooperate with the light rail 13 are installed at the bottom of the reciprocating trolley 5. The material frame body 4 is installed on the top of the reciprocating trolley 5. Safety railings 6 are installed on both sides of the reciprocating trolley 5. A trolley linking system 12 is installed at the bottom of the reciprocating trolley 5. The trolley linking system 12 is connected to the drive shaft assembly 11 and the driven shaft 16 via a chain 15. A switch control system 14 is installed on one side of the trolley linking system 12.

[0028] By setting up the first loading component, the continuous movement of the chain plate of the loading chain bed 2 transports the qualified pipe fittings from the manual inspection area to the gripping position of the articulated robot 1. Its core function is to achieve continuous and orderly loading of pipe fittings. In addition, the outlet of the loading chain bed 2 is connected to the automatic marking machine 3 to ensure that the articulated robot 1 can directly perform marking operations after gripping the pipe fittings, forming a production line and improving work efficiency. By setting up the second loading component, batches of pipe fittings can be stored through the material frame body 4. With the cooperation of the reciprocating trolley 5, the material frame body 4 can be transferred between the workshop and the operating area of ​​the articulated robot 1. Specifically, the workshop crane places the material frame body 4 filled with qualified pipe fittings onto the reciprocating trolley 5. The reciprocating trolley 5, through the cooperation of the light rail 13 and the track wheels, moves along the drive shaft assembly 11. Driven by the chain 15 and driven shaft 16, the material frame body 4 is automatically transported to the working range of the articulated robot 1. The advantage of this component is that it can adapt to the centralized feeding of batch pipe fittings, especially suitable for scenarios where continuous conveying by the chain bed is not possible (such as when there are various pipe fitting specifications and batch switching of production tasks is required). The safety fence 6 can ensure the safety of the transfer process. The trolley linking system 12 and the switch control system 14 realize automated position switching and start-stop control, reducing manual intervention. The combination of the two enables the workstation to have dual feeding capabilities of "continuous conveying" and "batch transfer". The first loading component is suitable for the continuous production of single-specification pipe fittings, while the second loading component can flexibly cope with the batch changeover requirements of multiple specifications of pipe fittings, jointly ensuring the efficient and flexible operation of this device.

[0029] It also includes a conversion rotary table 8 that works with the articulated robot 1 for palletizing. One side of the conversion rotary table 8 is equipped with a palletizing position 10, and the other side of the conversion rotary table 8 is equipped with a packing position 9. The conversion rotary table 8 is located on the other side of the articulated robot 1, and the bottom center of the conversion rotary table 8 is rotatably connected to the rotary table track system 17 through a rotary table rotation shaft 18.

[0030] By setting up a conversion rotary table 8, the bottom of which can rotate flexibly through the rotary table rotation axis 18 and the rotary table track system 17, a stacking position 10 is set on one side of the table and a packaging position 9 is set on the other side. After the articulated robot 1 completes the stacking operation of pipes at the stacking position 10, the conversion rotary table 8 rotates to transfer the stacked pipes to the packaging position 9, so that they are away from the operating area of ​​the articulated robot 1, making it easier for manual packaging operations to be carried out safely and efficiently. At the same time, the rotated stacking position 10 can receive the next batch of pipes for continued stacking, realizing the parallel processing of stacking and packaging processes, greatly improving the overall production efficiency of this device, and reducing the equipment footprint through space reuse, ensuring the smooth operation and continuous operation of this device.

[0031] In practical use, the device is moved to a designated location. Workers first manually inspect the pipe fittings on the inspection bench. Qualified pipe fittings are loaded in two ways: First, they are placed on the upper chain bed 2, which automatically transports them according to the gripping position signal of the articulated robot 1. After the pipe fitting arrives, the 3D high-definition vision system on the articulated robot 1 measures the workpiece, the electro-permanent magnet component 7 grips the pipe fitting, and after being marked by the automatic marking machine 3, it is transported to the stacking position 10 of the conversion rotary table 8, where stacking is planned according to the vision measurement parameters. Second, qualified pipe fittings are placed on the material frame body 4 and placed on the reciprocating trolley 5 by the overhead crane. The reciprocating trolley 5 automatically transports them to the operating area of ​​the articulated robot 1. Before each gripping, the articulated robot 1 uses the 3D high-definition vision system to take pictures and measure the position and parameters of the pipe fitting, plans the gripping action and process, and completes the marking and stacking. When the stacking is finished, the conversion rotary table 8 rotates 180° and transfers the stacked pipe fittings to the packaging position 9 for manual packaging. At the same time, the stacking position 10 can continue to receive new pipe fittings, realizing efficient and automated production.

[0032] 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-controlled marking and palletizing robot workstation, comprising an articulated robot (1) for transferring and palletizing workpieces, characterized in that: It also includes a first loading assembly and a second loading assembly for loading the workpiece, and a conversion rotary table (8) for palletizing in conjunction with the articulated robot (1); The articulated robot (1) is equipped with a 3D high-definition vision system for analyzing the surrounding environment and planning the movements of the articulated robot (1), and the grasping end of the articulated robot (1) is equipped with an electro-permanent magnet assembly. The first loading assembly includes a loading chain bed (2), and the second loading assembly includes a material frame body (4) and a reciprocating trolley (5); A palletizing position (10) is installed on one side of the conversion rotary table (8), and a packing position (9) is installed on the other side of the conversion rotary table (8).

2. The vision-controlled marking and palletizing robot workstation according to claim 1, characterized in that: The outlet of the upper chain bed (2) is located on one side of the joint and the robot, and an automatic marking machine (3) is provided between the outlet of the upper chain bed (2) and the joint robot (1).

3. The vision-controlled marking and palletizing robot workstation according to claim 1, characterized in that: The reciprocating trolley (5) is located on the side adjacent to the articulated robot (1) and the upper chain bed (2). The bottom of the reciprocating trolley (5) is equipped with a light rail (13), and the bottom of the reciprocating trolley (5) is equipped with track wheels that cooperate with the light rail (13).

4. The vision-controlled marking and palletizing robot workstation according to claim 3, characterized in that: The reciprocating trolley (5) is equipped with a material frame body (4) on its top, safety railings (6) are installed on both sides of the reciprocating trolley (5), and a trolley linking system (12) is installed at the bottom of the reciprocating trolley (5).

5. A vision-controlled marking and palletizing robot workstation according to claim 4, characterized in that: The trolley linking system (12) is connected to the drive shaft assembly (11) and the driven shaft (16) via a chain (15). A switch control system (14) is installed on one side of the trolley linking system (12).

6. A vision-controlled marking and palletizing robot workstation according to claim 1, characterized in that: The conversion rotary table (8) is located on the other side of the articulated robot (1), and the bottom center of the conversion rotary table (8) is rotatably connected to the rotary table track system (17) through the rotary table rotation shaft (18).

Images