A multi-mode automatic nickel mesh grabbing device based on vision recognition

Abstract

This utility model discloses a multi-mode automatic nickel mesh gripping device based on vision recognition. The device includes a transfer drive unit with an end effector and a multi-mode gripping mechanism. The multi-mode gripping mechanism contains multiple gripping parts and a mode switching mechanism. The vision system includes a panoramic camera and a hand-eye camera. The mode switching mechanism switches between different gripping parts across multiple working surfaces to adapt to nickel meshes of different specifications. The vision system achieves coarse and fine positioning, improving gripping accuracy. Its advantages are: high flexibility, rapid switching between multiple gripping modes to adapt to various nickel mesh specifications, and high changeover efficiency; precise positioning, with dual cameras ensuring stable gripping and reducing nickel mesh damage; high level of intelligence, with automatic optimization strategies reducing manual intervention and safety hazards; and modular design for easy maintenance and upgrades, improving overall production efficiency.

Description

Technical Field

[0001] This utility model relates to the field of automation control technology, specifically to a multi-mode automatic nickel mesh grabbing device based on visual recognition. Background Technology

[0002] During the processing of nickel mesh, it is necessary to transfer the mesh from one processing station to another, such as from the cutting equipment to the forming equipment, or from the forming equipment to the cleaning equipment. Currently, most nickel mesh processing companies in China still use manual methods for grasping and transferring the mesh. This method has many drawbacks: on the one hand, manual grasping is inefficient and cannot meet the needs of large-scale, high-paced production, and labor costs are high; on the other hand, the nickel mesh is relatively thin, and improper force control during manual grasping can easily cause deformation or damage to the mesh, affecting product quality. In addition, manual operation between equipment also poses certain safety hazards.

[0003] To address these issues, some companies have begun experimenting with mechanical gripping devices to replace manual labor. However, most existing mechanical gripping devices suffer from poor adaptability, only capable of gripping nickel mesh of specific sizes. When the specifications of the nickel mesh change, the gripping device requires cumbersome adjustments, making operation inconvenient. Furthermore, the positioning accuracy of existing devices is low, making it difficult to accurately grip the nickel mesh, and prone to gripping deviations or slippage, affecting the smoothness of the processing flow. Therefore, developing an automatic gripping device that can adapt to nickel mesh of different sizes, with precise positioning and stable gripping has become an urgent problem to be solved in the nickel mesh processing industry.

[0004] For the reasons mentioned above, it is necessary to propose a multi-mode automatic nickel mesh grabbing device based on visual recognition to solve the above problems. Utility Model Content

[0005] The purpose of this invention is to overcome the defects in the existing technology and provide a multi-mode automatic nickel mesh grabbing device based on visual recognition.

[0006] To achieve the above objectives, the technical solution of this utility model is as follows: A multi-mode automated nickel mesh gripping device based on vision recognition, comprising: The transfer drive unit is set between two workstations or shuttles between multiple workstations as a transfer medium for nickel mesh workpieces. The transfer drive unit has an end effector, which is equipped with a multi-mode gripping mechanism. A multi-mode gripping mechanism includes multiple gripping parts, each of which is used to adaptively pick up nickel mesh workpieces of different specifications; a mode switching mechanism includes multiple working surfaces, the number of which corresponds to the number of gripping parts, and each working surface is provided with different gripping parts. The mode switching mechanism controls the switching of the gripping parts on the corresponding working surface to perform gripping operations on the workpiece. A vision system comprising multiple vision cameras, including a panoramic camera for coarse positioning and a hand-eye camera positioned at the end for precise positioning.

[0007] Furthermore, the modal switching mechanism is modularly mounted on the end effector and has a connecting seat connected to the end effector. The modal switching mechanism has at least one shaft arm and is rotatably mounted on the shaft arm. The modal switching structure has multiple working surfaces evenly spaced around its circumference, and the working surfaces are planar.

[0008] Furthermore, the gripping part includes an adhesive-type velvet hook part, a spiral rotation pickup part, a magnetic pickup part, and a vacuum suction part; The adhesive-type flocked hook portion includes several hook units distributed on the working surface. The hook units have curved heads that can pass through the mesh of the nickel mesh, and the bending directions of the several curved heads are not uniform. The spiral rotation pickup part includes several spiral units, the long axis of which is perpendicular to the working surface. The spiral units rotate through the mesh of the nickel mesh workpiece to pick up the workpiece.

[0009] Furthermore, the hook unit includes a flexible steel wire core rod, one end of which is bent into a hook shape and the other end is connected to the working surface, and also includes a scratch-resistant protective layer wrapped around the steel wire core rod; The adhesive-type velvet hook also includes a push-out unloading rod, which is set perpendicular to the working surface. When picking up, the push-out unloading rod is submerged in the working plane. When unloading, it extends along the direction perpendicular to the working surface, pushes the workpiece to move, and forces the bent head to deform under the driving force to release the lock with the hook unit.

[0010] Furthermore, the bending head of the hook unit undergoes controlled bending deformation. The hook unit has a core rod made of shape memory alloy and a scratch-resistant protective layer wrapped around the core rod. The shape memory alloy core rod remains straight when no external force is applied. A deformation driving part is provided inside the scratch-resistant protective layer and on one side of the core rod. The deformation driving part includes an air pipe and a deformation chamber. One end of the air pipe is connected to the air supply unit in the working surface, and the other end is connected to the deformation chamber. The deformation chamber is located at the bending point of the bending head. The bending direction of the bending head or the initial upright state is controlled by changing the air pressure in the deformation chamber.

[0011] Furthermore, the spiral unit includes a flexible base column and a spiral component. One end of the flexible base column is rotatably connected to the working surface, and the other end is coaxially driven to connect to the spiral component. Based on the flexibility of the flexible base column, when the end of the spiral component touches a non-mesh position of the workpiece, it is subjected to pressure and lateral bending deformation, forcing the spiral component to passively find a nearby mesh and screw into it.

[0012] Furthermore, the working surface is provided with a rotary drive unit that drives several spiral units to rotate.

[0013] Furthermore, the magnetic pickup unit includes an electromagnetic chuck disposed on the working surface, and the magnetic attraction strength is adjusted by changing the current strength of the electromagnetic chuck.

[0014] Furthermore, the vacuum suction part is located at the end of the shaft arm and has a finger clamping structure. The inner side of the finger clamping structure is wrapped with a flexible contact layer, and the surface of the flexible contact layer is distributed with a vacuum suction cup assembly.

[0015] Furthermore, the transfer drive unit includes a six-axis articulated robot with a working radius covering the loading and unloading areas of each workstation; the robot base is fixed to the ground or a mobile frame, and it moves in a controlled manner to each target workstation.

[0016] The advantages and beneficial effects of this utility model are as follows: 1. This device possesses high flexibility and adaptability, effectively meeting the gripping needs of nickel meshes of different specifications. Through the design of a multi-mode gripping mechanism, it integrates various gripping methods such as an adhesive-type felt hook, a spiral rotating pickup, a magnetic pickup, and a vacuum suction. Combined with a mode switching mechanism, it can quickly switch between corresponding working surfaces and gripping parts, adapting to nickel meshes of different sizes, apertures, and thicknesses without cumbersome adjustments. This significantly improves production changeover efficiency and solves the problems of poor flexibility and high changeover costs associated with traditional equipment.

[0017] 2. Significantly improved accuracy and reliability of the gripping process. The vision system combines a panoramic camera with a hand-eye camera. The panoramic camera first performs a rough positioning of the nickel mesh, and then the hand-eye camera at the end performs precise positioning, effectively compensating for incoming material position errors. At the same time, the detailed design of each gripping part (such as the scratch-resistant protective layer of the hook unit, the flexible base of the spiral unit, and the flexible contact layer of the vacuum suction part) further ensures the stability of gripping, avoids problems such as scratches and deformation of the nickel mesh, and reduces the product defect rate.

[0018] 3. High level of intelligence, convenient operation, and strong safety. Through the coordinated control of visual recognition and mode switching, the device can automatically identify the specifications of nickel mesh and select the optimal gripping strategy to achieve automated "grab upon arrival" operation. The design of the top push unloading push rod of the claw unit and the deformation control of the shape memory alloy core rod not only improves the automation of gripping and unloading, but also avoids damage to the nickel mesh and equipment through force control and protection mechanisms (such as anti-scratch protective layer and flexible contact material), while reducing manual intervention and lowering safety hazards.

[0019] 4. Modular design enables the device to have excellent expandability and maintainability. The modal switching mechanism is modularly installed on the end effector, and each gripping part can be flexibly replaced or upgraded according to actual needs to adapt to multi-station and multi-task gripping scenarios; the six-axis articulated robot serves as the transfer drive unit, with a working radius covering all stations, enabling efficient transfer of nickel mesh between multiple stations, thus improving the automation level and production efficiency of the nickel mesh processing process and providing strong support for the intelligent upgrading of the nickel mesh processing industry. Attached Figure Description

[0020] Figure 1 This is an isometric view of a multi-mode automatic nickel mesh grasping device based on visual recognition according to this utility model; Figure 2 This is a side view of the end effector in this utility model; Figure 3 This is a bottom view of the spiral rotating pickup part in the multi-mode gripping mechanism of this utility model; Figure 4 This is a schematic diagram of the structure of the first embodiment of the adhesive-type flocked hook part in this utility model; Figure 5 This is a schematic diagram of the second embodiment of the adhesive-type flocked hook part in this utility model.

[0021] In the diagram: 1. Transfer drive unit; 2. End effector; 3. Multi-mode gripping mechanism; 4. Six-axis articulated robot; 5. Base; 6. First articulated arm; 7. Second articulated arm; 8. Third articulated arm; 9. End effector; 10. Gripper; 11. Working surface; 12. Connecting seat; 13. Multi-faceted connecting block; 14. Axis arm; 15. Prism; 16. Adhesive-type felted claw; 17. Helical rotating pickup unit; 18. Magnetic pickup unit. 19. Vacuum suction unit; 20. Claw unit; 21. Bending head; 22. Push-out unloading push rod; 23. Core rod; 24. Scratch-resistant protective layer; 25. Shape memory alloy; 26. Air pipe; 27. Deformation cavity; 28. Air supply unit; 29. ​​Spiral unit; 30. Flexible base column; 31. Spiral component; 32. Electromagnetic chuck; 33. Flexible protective layer; 34. Telescopic rod; 35. Horizontal shaft arm; 36. Finger clamping structure; 37. Vacuum chuck. Detailed Implementation

[0022] The specific embodiments of this utility model will be further described below with reference to examples. These examples are only used to more clearly illustrate the technical solution of this utility model and should not be construed as limiting the scope of protection of this utility model.

[0023] A multi-mode automated nickel mesh gripping device based on vision recognition, comprising: The transfer drive unit 1, which is positioned between two workstations or moves between multiple workstations as a transfer intermediary for nickel mesh workpieces, has an end effector 2, which is equipped with a multi-mode gripping mechanism 3; for example... Figure 1 As shown, in this embodiment, the transfer drive unit 1 includes a high-precision six-axis articulated robot 4, whose working radius covers the loading and unloading areas of each workstation; the robot base is fixed on the ground or on a mobile frame, and it moves in a controlled manner to each target workstation. The six-axis articulated robot 4 includes a base 5, a first articulated arm 6, a second articulated arm 7, a third articulated arm 8, and an end effector 9. In actual use, the base 5 is mounted on a fixed foundation or a moving platform with tracks, enabling the six-axis articulated robot 4 to pick up and transfer workpieces between workstations. Through the cooperation of tracks and moving platforms, it can move back and forth between multiple workstations. The first articulated arm 6 and the base 5 form a degree of freedom of rotation about the longitudinal axis. The second articulated arm 7 and the first articulated arm 6 form a first degree of freedom of rotation about the transverse axis. The third articulated arm 8 and the second articulated arm 7 form a second degree of freedom of rotation about the transverse axis. The third articulated arm 8 also has a degree of freedom of rotation about its own axis. The end effector 9 and the third articulated arm 8 form a degree of freedom of hinged rotation. The end effector 9 and the multi-mode gripping mechanism 3 also have two mutually perpendicular degrees of freedom of rotation. Thus, under the control of the above seven degrees of freedom, the multi-mode gripping mechanism 3 can flexibly rotate and adjust at various angles within the space covered by the articulated robot.

[0024] The multi-mode gripping mechanism 3 includes multiple gripping parts 10, each of which is used to adaptively pick up nickel mesh workpieces of different specifications. A mode switching mechanism includes multiple working surfaces 11, the number of which corresponds to the number of gripping parts 10. Each working surface 11 has different gripping parts 10. The mode switching mechanism controls the switching of the gripping parts 10 on the corresponding working surface 11 to perform gripping operations on the workpiece. It is understood that in actual production, nickel mesh workpieces have various mesh sizes and models. This device is designed with different picking methods for different workpiece types, thus making the device widely applicable. It also includes a vision system, which includes multiple vision cameras. Specifically, the vision cameras include a panoramic camera for coarse positioning and a hand-eye camera located at the end for precise positioning. The panoramic camera can be installed on each articulated arm, allowing for selective installation and observation of the target from multiple directions. It identifies the approximate position and orientation of the nickel mesh on the conveyor line or in the material frame. The hand-eye camera is installed on the end effector 2, specifically on the multi-mode gripping mechanism 3. It moves with the robotic arm, precisely positions the nickel mesh before gripping, compensates for positioning errors, and identifies the distribution of holes to determine the optimal gripping point. It is understood that at least the hand-eye camera integrates a distance sensor to control the distance between the multi-mode gripping mechanism 3 and the target workpiece.

[0025] In this embodiment, the multi-mode grasping mechanism 3 has a connecting seat 12 connected to the end arm 9. Specifically, the multi-mode grasping mechanism 3 also includes a multi-faceted connecting block 13. The connecting seat 12 is provided on the upper end face of the multi-faceted connecting block 13. The side face of the multi-faceted connecting block 13 is provided with multiple flat side faces. Each flat side face can be provided with a mode switching mechanism for switching the picking mode. The mode switching mechanism has at least one shaft arm 14. The shaft arm 14 is arranged perpendicular to the side plane direction. It can be understood that multiple shaft arm 14s can be provided, and the number of them can correspond to the number of side planes. In this embodiment, two symmetrical shaft arm 14s are provided as an example. The mode switching structure has multiple working surfaces 11 evenly distributed around the circumference. Specifically, the multiple working surfaces 11 are prisms 15 that are rotatably arranged around the shaft arm 14. Each side plane of the prism 15 forms a working surface 11, and the working surface 11 has a planar structure. The modal switching mechanism is rotatably mounted on the shaft arm 14. Specifically, the rotation effect of the modal switching mechanism has two aspects: first, it rotates horizontally around the multi-faceted connecting seat 12; second, multiple working surfaces 11 are driven to rotate around the shaft arm 14. In actual use, when the first type of rotation occurs, it is used to control the horizontal rotation posture adjustment of the gripped workpiece, thereby adapting to the connection process of workpiece placement or picking between different workstations. When the second type of rotation occurs, it is used for the rotation switching of the working surfaces 11, so that the various gripping parts 10 on different working surfaces 11 face the workpiece and are used, thereby forming the effect that different workpieces can select the corresponding gripping part 10 to use.

[0026] In actual use, by adjusting the joints of the six-axis articulated robot 4, the end effector 9 is positioned above the target nickel mesh workpiece to be picked up. The distance between the robotic arm and the workpiece is controlled and positioned by a vision camera. Then, the distance between the multi-mode gripping mechanism 3 and the workpiece is precisely positioned by a hand-eye camera. Depending on the type of workpiece to be picked up, the appropriate gripping part 10 is switched for use. Specifically, the end effector 9 first controls the axis arm 14 to rotate around the horizontal direction, so that the axis arm 14 is positioned in the appropriate horizontal direction. Then, the prism 15 on the axis arm 14 rotates to switch the working surface 11, thereby selecting the appropriate gripping part 10 for use and picking up the workpiece. After the workpiece is picked up by the gripping part 10, the operation of each joint arm is controlled to transfer the workpiece to the target placement position and then put the workpiece into the feeding area of ​​the next station, thereby completing the operation of transferring the workpiece between various stations.

[0027] Furthermore, the gripping part 10 includes an adhesive-type felt hook part 16, a spiral rotation pickup part 17, a magnetic pickup part 18, and a vacuum suction part 19. This embodiment exemplarily sets up different gripping parts 10, allowing for the adaptive selection of the corresponding gripping part 10 to perform nickel mesh pickup operations based on the mesh size and shape of different nickel meshes. It is understood that, since at least one shaft arm part 14 is provided around the multi-faceted connecting block 13, a multi-mode gripping mechanism 3 is provided on each shaft arm part 14 during use. The shaft arm parts 14 are modularly mounted on the multi-faceted connecting block 13. When the area of ​​the nickel mesh to be gripped is small, only one shaft arm 14 and multi-mode gripping mechanism 3 need to be installed. Furthermore, as the area of ​​the target workpiece to be gripped increases, the number of shaft arm 14 modules can be increased. In this embodiment, the multi-faceted connecting block 13 has four flat sides, so four shaft arm 14 modules can be installed on each of the four flat sides. This allows the gripping coverage area of ​​the device to expand outwards from the multi-faceted connecting block 13 as the center. Therefore, when gripping a larger area of ​​nickel mesh, the number of shaft arm 14 modules and multi-mode gripping mechanism 3 can be increased. Figure 1 , 2 As shown, this embodiment only uses the symmetrical arrangement of two shaft arm parts 14 and two multi-mode gripping mechanisms 3 as an example for explanation.

[0028] In this embodiment, the adhesive-type velvet hook 16, the spiral rotating pickup 17, and the magnetic pickup 18 are distributed on each working surface 11 of the prism 15. Specifically, in this embodiment, the prism 15 is designed as a triangular prism structure, with its central axis through which the shaft arm 14 passes, and the prism 15 is rotatably connected to the shaft arm 14. A working surface switching mechanism for controlling the rotation of the prism 15 is provided inside the prism 15 and between the shaft arm 14. The working surface switching mechanism controls each working surface 11 of the prism 15 to face the placement plane of the nickel mesh workpiece. Then, the six-axis articulated robot 4 controls the robot to approach the workpiece, while the vision camera controls the distance between the gripper 10 and the nickel mesh workpiece; then, the pickup operation is performed. Furthermore, in this embodiment, the vacuum suction part 19 is located at the far end of the shaft arm 14. The shaft arm 14 is provided with a telescopic rod 34, which drives the vacuum suction part 19 to adjust its position in the axial direction of the shaft arm 14. As one embodiment of the adhesive-type flocked hook part 16 like Figure 2-5As shown, the adhesive-type flocked hook portion 16 includes several hook units 20, which are distributed on the working surface 11. Each hook unit 20 has a curved head 21 that can pass through the mesh of the nickel mesh, and the bending directions of the curved heads 21 are not uniform. In this embodiment, the working surface 11 is designed as a hook-and-loop hook structure using the principle of Velcro. The densely distributed hook units 20 form several small hooks (the shape of the hook unit 20 is schematically shown in the figure. To make it clear, its shape is enlarged in the figure, and its density should be greatly increased in actual use). This is especially suitable for picking up nickel mesh with dense mesh. It can be understood that the hook unit 20 has a flexible setting. When the working surface 11 is facing the nickel mesh, the adhesive-type flocked hook portion 16 is gradually approached by a vision camera and a certain pressure is applied to adhere it to the nickel mesh. When the surface is being processed, a portion of the hook units 20 will randomly insert into the mesh of the nickel mesh. After the hook unit 20 passes through the mesh, because the nickel mesh itself is thin, the bent head 21 of the hook unit 20 can just fit against the edge of the mesh. Since the hook unit 20 itself is a flexible structure, it will not damage the nickel mesh. Although the gripping force exerted by each hook unit 20 on the nickel mesh is small, the combined force of several hook units 20 passing through the mesh is sufficient to pick up the nickel mesh (hook units 20 that do not pass through the mesh, due to their flexibility, can bend from the root without affecting the workpiece picking operation or damaging the nickel mesh). Furthermore, the adhesive-type felt hook part 16 also includes a push-out unloading rod 22, which is set perpendicular to the working surface 11. During picking, the push-out unloading rod 22 is submerged in the working plane; during unloading, it extends along the direction perpendicular to the working surface 11. Figure 2 , 3 As shown, in this embodiment, multiple push-out push rods 22 are spaced apart on the working surface 11, which can simultaneously push multiple positions of the nickel mesh to prevent the hook unit 20 from catching the workpiece during unloading. During unloading, the workpiece is pushed to move and the driving force of the push forces the bent head 21 to deform and release the lock with the hook unit 20. It can be understood that when the workpiece is moved to the target position, the push-out push rods 22 are extended to push the nickel mesh workpiece away from the working surface 11, thereby causing the bent head 21 to release the mesh and place the workpiece in the target position.

[0029] Specifically, in this embodiment, the hook unit 20 includes a flexible steel wire core rod 23, such as... Figure 4As shown, one end of the core rod 23 is bent into a hook shape, and the other end is connected to the working surface 11. It also includes a scratch-resistant protective layer 24 wrapped around the steel wire core rod 23. In this embodiment, in order to make the claw unit 20 have a certain toughness and elastic modulus, an elastic steel wire core rod 23 is set inside it to improve the toughness of the claw unit 20. Using steel wire as the core rod 23 can provide the claw unit 20 with high elasticity. On the one hand, if the claw unit 20 is not aligned with the mesh, it can be squeezed and bent by the nickel mesh. After the workpiece is released, the claw unit 20 can automatically restore its shape. Furthermore, in order to avoid the steel wire scratching the nickel mesh, a scratch-resistant protective layer 24 is wrapped around the core rod 23. This scratch-resistant protective layer 24 can provide good protection for the nickel mesh. It has a good protective effect when the claw unit 20 passes through the mesh and when pushing the nickel mesh away from the claw unit 20.

[0030] As another embodiment of the adhesive-type flocked hook portion 16, such as Figure 5As shown, the bending head 21 of the hook unit 20 undergoes controlled bending deformation. The hook unit 20 has a core rod 23 made of shape memory alloy 25 and a scratch-resistant protective layer 24 wrapped around the core rod 23. The core rod 23 made of shape memory alloy 25 remains straight when no external force is applied. A deformation driving part is provided inside the scratch-resistant protective layer 24 and on one side of the core rod 23. The deformation driving part includes an air pipe 26 and a deformation cavity 27. One end of the air pipe 26 is connected to the air supply unit 28 in the working surface 11, and the other end is connected to the deformation cavity 27. The deformation cavity 27 is located at the bending point of the bending head 21. The bending direction of the bending head 21 or the initial upright state is controlled by changing the air pressure in the deformation cavity 27. The difference between this embodiment and the previous embodiment is that the hook unit 20 in the previous embodiment is passively deformed (including the bending head 21 hooking the mesh after the hook unit 20 is inserted into the mesh, and the bending head 21 tending to straighten under external force and automatically returning to its original position after leaving the mesh when the workpiece is lowered and the nickel mesh is pushed). In this embodiment, the hook unit 20 tends to actively control the bending head 21 to deform. In this embodiment, under natural conditions, the hook unit 20 can be needle-shaped (at this time, the bending head 21 is in a straight state and not bent) and vertically fixed on the working surface 11. In this way, the collision area of ​​the hook unit 20 head in this embodiment can be relatively smaller, and thus it can be more easily inserted into the small nickel mesh holes. In this way, more hook units 20 can pass through the mesh holes (at this time, the hook unit 20 is straight rod-shaped, and it can be understood that its diameter is much smaller than the mesh hole diameter of the nickel mesh). After the working surface 11 is attached to the nickel mesh surface (at this time, several hook units 20 pass through the mesh holes in a straight rod state), then control the filling or extraction of gas into the deformation cavity 27, thereby deforming the deformation cavity 27 on the hook unit 20. At this time, the bending head 21 can be actively controlled to bend and deform, thereby hooking the mesh hole. In actual use, the gas supply unit 28 can pressurize or depressurize the deformation cavity 27, thereby forming a bending direction of the bending head 21 that can be manually controlled. It is understood that in this embodiment, the bent head 21 is in a straight state when inserted into the mesh, so this embodiment is easier to combine with the workpiece and has less insertion resistance compared to the previous embodiment. On the other hand, since the bent head 21 is actively bent in this embodiment, when it reaches the unloading position, the shape of the bent head 21 is changed by controlling the air pressure entering the deformation chamber 27 to make it return to the initial straight state of the bent head 21. That is, the workpiece can be automatically detached and unloaded under the weight of the nickel mesh. Therefore, this embodiment does not need to set an unloading push rod. Or, even under the action of friction or other forces, the workpiece may still not be detached. At this time, only a small force is needed to push the workpiece away. Compared with the aforementioned embodiment, this embodiment can set fewer unloading push rods.

[0031] As one embodiment of the spiral rotating pickup unit 17, such as Figure 3 As shown, the spiral rotating pickup unit 17 includes several spiral units 29. The long axis of the spiral unit 29 is perpendicular to the working surface 11. The spiral unit 29 rotates through the mesh of the nickel mesh workpiece to pick up the workpiece. Specifically, the spiral unit 29 includes a flexible base column 30 and a spiral component 31. One end of the flexible base column 30 is rotatably connected to the working surface 11, and the other end is coaxially driven to connect to the spiral component 31. Based on the flexibility of the flexible base column 30, when the end of the spiral component 31 touches a non-mesh position of the workpiece, it is subjected to pressure and bends laterally, forcing the spiral component 31 to passively search for nearby mesh holes and screw into them.

[0032] This embodiment is applicable to workpieces with larger mesh sizes in nickel mesh. As can be seen from the illustration, the spiral component 31 has a longer length than the adhesive-type flocked claw part 16. This embodiment can achieve the effect of simultaneously picking up multiple nickel mesh workpieces by setting the longer structure of the spiral component 31. Specifically, the working surface 11 is provided with a rotary drive unit that drives several spiral units 29 to rotate. In actual use, the rotary drive unit controls the spiral component 31 to rotate, so that the spiral component 31 can rotate downward and drill through multiple nickel meshes, thereby realizing the combination of nickel mesh workpieces and spiral rotating pickup part 17, and then forming a pickup effect. Then, the six-axis articulated robot 4 is controlled to move, thereby transferring the nickel mesh to a different position. It can be understood that when it reaches the destination position, the spiral unit 29 can be rotated in the opposite direction, thereby forming an automatic unloading operation.

[0033] In this embodiment, the flexible base column 30 can transmit rotational driving force to the spiral component 31 with a certain degree of flexibility. Additionally, it allows the spiral unit 29 to bend and deform at the flexible base column 30, which is suitable for situations where the spiral component 31 touches the nickel mesh but does not pass through the mesh openings. Furthermore, the spiral component 31 can be processed using an elastic material to avoid damaging the nickel mesh. In actual use, the rotational drive unit can be a one-to-one driving motor installed inside the prism 15; or it can be a one-to-many rotational drive unit in the form of a chain and sprocket drive inside the prism 15. That is, the flexible base column 30 is rotatably connected to the working surface 11, and a sprocket is installed at one end of the flexible base column 30 that passes through the interior of the working surface 11. Multiple sprockets are wound with chains at once, forming a structure where multiple sprockets rotate synchronously. A driving force is applied to one sprocket, thereby controlling the synchronous rotation of multiple spiral units 29 on the working surface 11. In this embodiment, when the lower end of the spiral component 31 contacts the workpiece, the spiral unit 29 is controlled to rotate. Under the rotational power of the spiral component 31, the workpiece can be driven to move upward and onto the spiral component 31 as the spiral component 31 rotates relative to the workpiece. When multiple nickel meshes need to be picked up at the same time, the entire working surface 11 can be controlled to slowly move downward during the rotation of the spiral unit 29, so that the lower end of the spiral component 31 slowly descends and contacts the next layer of nickel mesh workpiece. This process can be carried out step by step to pick up multiple nickel mesh workpieces.

[0034] As an embodiment of the magnetic pickup unit 18, the magnetic pickup unit 18 includes an electromagnetic chuck 32 disposed on the surface of the working surface 11, and its magnetic attraction strength is adjusted by changing the current strength of the electromagnetic chuck 32. Specifically, the electromagnetic chuck 32 is embedded in the working surface 11, and a flexible protective layer 33 is provided on the adsorption surface of the electromagnetic chuck 32; the mounting frame of the magnetic pickup unit 18 is made of aluminum alloy, which is lightweight and has high strength; the electromagnetic chuck 32 is a rectangular neodymium iron boron electromagnetic chuck 32, the size of which matches the nickel mesh to be grasped, and 12 independent magnetic attraction units are evenly distributed on the adsorption surface. The magnetic attraction strength of each magnetic attraction unit can be adjusted individually by the intelligent control system to adapt to the adsorption requirements of nickel meshes of different thicknesses; a flexible fluororubber protective layer is pasted on the adsorption surface to avoid direct contact between the electromagnetic chuck 32 and the nickel mesh, which would cause scratches. A pressure sensor is also provided. The pressure sensor is a miniature piezoelectric sensor, located on the back of the electromagnetic chuck 32, which detects the adsorption pressure in real time and feeds it back to the intelligent control system. The intelligent control module employs a PLC controller. Its signal input terminals are electrically connected to the pressure sensor and infrared positioning sensor, respectively, while its signal output terminals are electrically connected to the robotic arm, electromagnetic chuck 32, and miniature cylinder, respectively. This allows it to receive sensor signals and output control commands, enabling automated operation of the device. The intelligent control module also includes a touchscreen display, electrically connected to the PLC controller, used to display device operating parameters (adsorption force, current intensity, number of operations) and to allow manual setting of the operating mode (single gripping / continuous gripping).

[0035] As one embodiment of the vacuum suction unit 19; such as Figure 1-3 As shown, the vacuum suction unit 19 is located at the end of the shaft arm 14, and its extension position is controlled and adjusted by the telescopic rod 34. A horizontal shaft arm 35 is provided at the free end of the telescopic arm 34, and the horizontal shaft arm 35 is perpendicular to the telescopic rod 34. Clamping finger structures 36 are respectively provided at both ends of the horizontal shaft arm 35. The clamping finger structures 36 cooperate with each other to clamp the frame of the nickel mesh. It can be understood that the horizontal shaft arm 35 can be controlled to rotate around its horizontal axis, thereby causing the clamping finger structures 36 to extend laterally or downwards. Changing its orientation makes it more flexible in clamping the nickel mesh workpiece. It can be understood that when the clamping finger structure 36 extends downwards, its clamping part should protrude from the gripping part 10 to facilitate contact between the gripping part and the workpiece for pickup. Furthermore, the inner side of the clamping finger structure 36 is wrapped with a flexible contact layer, and a set of vacuum suction cups 37 are distributed on the surface of the flexible contact layer. Specifically, the clamping finger structure 36 includes at least two clamping fingers that can be controlled independently or synchronously. The inner side of the gripper fingers is embedded with flexible contact material (such as polyurethane or silicone) to prevent scratching the nickel mesh; 37 sets of vacuum suction cups are distributed between the grippers to adsorb large areas of nickel mesh, especially suitable for thin and wide mesh materials, forming a "gripping + adsorption" composite gripping mode with the grippers; Torque sensor: installed between the robot flange and the end effector 2, used to detect force and torque feedback during the gripping process in real time.

[0036] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A multi-mode automatic nickel mesh grasping device based on visual recognition, characterized in that, include: The transfer drive unit is set between two workstations or shuttles between multiple workstations as a transfer medium for nickel mesh workpieces. The transfer drive unit has an end effector, which is equipped with a multi-mode gripping mechanism. A multi-mode gripping mechanism includes multiple gripping parts, each of which is used to adaptively pick up nickel mesh workpieces of different specifications; a mode switching mechanism includes multiple working surfaces, the number of which corresponds to the number of gripping parts, and each working surface is provided with different gripping parts. The mode switching mechanism controls the switching of the gripping parts on the corresponding working surface to perform gripping operations on the workpiece. A vision system comprising multiple vision cameras, including a panoramic camera for coarse positioning and a hand-eye camera positioned at the end for precise positioning.

2. The multi-mode automatic nickel mesh grasping device based on visual recognition according to claim 1, characterized in that, The modal switching mechanism is modularly mounted on the end effector and has a connecting seat connected to the end effector. The modal switching mechanism has at least one shaft arm and is rotatably mounted on the shaft arm. The modal switching structure has multiple working surfaces evenly spaced around its circumference, and the working surfaces are planar.

3. The multi-mode automatic nickel mesh grasping device based on visual recognition according to claim 1, characterized in that, The gripping part includes an adhesive-type velvet hook part, a spiral rotation pickup part, a magnetic pickup part, and a vacuum suction part; The adhesive-type flocked hook portion includes several hook units distributed on the working surface. The hook units have curved heads that can pass through the mesh of the nickel mesh, and the bending directions of the several curved heads are not uniform. The spiral rotation pickup part includes several spiral units, the long axis of which is perpendicular to the working surface. The spiral units rotate through the mesh of the nickel mesh workpiece to pick up the workpiece.

4. The multi-mode automatic nickel mesh grasping device based on visual recognition according to claim 3, characterized in that, The hook unit includes a flexible steel wire core rod, one end of which is bent into a hook shape and the other end is connected to the working surface. It also includes a scratch-resistant protective layer wrapped around the steel wire core rod. The adhesive-type velvet hook also includes a push-out unloading rod, which is set perpendicular to the working surface. When picking up, the push-out unloading rod is submerged in the working plane. When unloading, it extends along the direction perpendicular to the working surface, pushes the workpiece to move, and forces the bent head to deform under the driving force to release the lock with the hook unit.

5. The multi-mode automatic nickel mesh grasping device based on visual recognition according to claim 3, characterized in that, The bending head of the hook unit undergoes controlled bending deformation. The hook unit has a core rod made of shape memory alloy and a scratch-resistant protective layer wrapped around the core rod. The shape memory alloy core rod remains straight when no external force is applied. A deformation driving part is provided inside the scratch-resistant protective layer and on one side of the core rod. The deformation driving part includes an air pipe and a deformation chamber. One end of the air pipe is connected to the air supply unit in the working surface, and the other end is connected to the deformation chamber. The deformation chamber is located at the bending point of the bending head. The bending direction of the bending head or the initial upright state is controlled by changing the air pressure in the deformation chamber.

6. The multi-mode automatic nickel mesh grasping device based on visual recognition according to claim 3, characterized in that, The spiral unit includes a flexible base column and a spiral component. One end of the flexible base column is rotatably connected to the working surface, and the other end is coaxially driven to connect to the spiral component. Based on the flexibility of the flexible base column, when the end of the spiral component touches a non-mesh position of the workpiece, it is subjected to pressure and lateral bending deformation, forcing the spiral component to passively find a nearby mesh and screw into it.

7. The multi-mode automatic nickel mesh grasping device based on visual recognition according to claim 6, characterized in that, The working surface is provided with a rotary drive unit that drives several spiral units to rotate.

8. The multi-mode automatic nickel mesh grasping device based on visual recognition according to claim 3, characterized in that, The magnetic pickup unit includes an electromagnetic chuck disposed on the working surface, and the magnetic attraction strength is adjusted by changing the strength of the electromagnetic chuck current.

9. A multi-mode automatic nickel mesh grasping device based on visual recognition according to claim 3, characterized in that, The vacuum suction part is located at the end of the shaft arm and has a finger clamping structure. The inner side of the finger clamping structure is wrapped with a flexible contact layer, and the surface of the flexible contact layer is distributed with a vacuum suction cup assembly.

10. A multi-mode automatic nickel mesh grasping device based on visual recognition according to claim 1, characterized in that, The transfer drive unit includes a six-axis articulated robot with a working radius covering the loading and unloading areas of each workstation; the robot base is fixed to the ground or a mobile frame, and it moves in a controlled manner to each target workstation.

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