A visual-based material transfer device and material welding apparatus

Abstract

The utility model discloses a kind of material transfer device and material welding equipment based on vision, device includes material placing frame, vision sensor and material transfer manipulator, material placing frame is equipped with several arrangement distribution's material placing station, first material is placed on material placing station, vision sensor is located above material placing station and vision sensor moves along the distribution direction of material placing station and is set, material transfer manipulator at least has horizontal rotation structure of horizontal rotation function and telescopic structure of up-down telescopic function, material transfer manipulator is used to detect the position of first material according to vision sensor, to grab first material.The present application can flexibly cover all arrangement distribution's material placing station, even if the part to be grabbed of first material presents random direction due to manual placement, moving vision sensor can also accurately capture its actual position and direction information, avoid the detection deviation caused by visual blind area.

Description

Technical Field

[0001] This utility model relates to the field of industrial production equipment technology, and in particular to a vision-based material transfer device and material welding equipment. Background Technology

[0002] In industrial automated production, material transfer processes often rely on manual placement of materials at material placement stations before robotic arms perform subsequent gripping and transport. However, current material transfer technologies have significant shortcomings for scenarios involving manual material placement, severely impacting the accuracy and efficiency of robotic arm gripping. Specific problems include:

[0003] When materials are manually placed, the parts to be grasped (such as specific protrusions on the material) are often randomly distributed due to operating habits, material shape characteristics, and space limitations at the placement station. Existing material transfer devices without viewing angle detection capabilities can only grasp materials according to preset trajectories and angles, easily leading to grasping failures due to mismatches between the actual material angle and the preset angle, or material damage due to unbalanced grasping force. Even if some devices are equipped with viewing angle detection components, they are often fixed in place (e.g., fixed to a specific position on the material placement rack), and their detection angle can only cover a specific range. They cannot flexibly adjust the detection orientation according to different workstations and material placement methods. When the part of the material to be grasped is in the blind spot of the fixed viewing angle, its actual angle and position cannot be accurately identified, resulting in a high grasping error rate or unstable grasping by the robotic arm, severely restricting production continuity. Utility Model Content

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a vision-based material transfer device and material welding equipment.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] On one hand, this utility model provides a vision-based material transfer device, including a material placement rack, a vision sensor, and a material transfer robot. The material placement rack has a plurality of material placement stations arranged in a row. A first material is placed on each material placement station. The vision sensor is located above the material placement station and is movable along the distribution direction of the material placement station. The material transfer robot has at least a horizontal rotation structure with horizontal rotation function and a telescopic structure with vertical extension function. The material transfer robot is used to grasp the first material according to the position of the first material detected by the vision sensor.

[0007] Furthermore, it also includes a vision support frame, the bottom of which is connected to the material placement rack, and the top of which is provided with a vision linear motion module, and the vision sensor is located on the vision linear motion module.

[0008] Furthermore, the moving end of the visual linear motion module is provided with a mounting plate, the visual sensor is located above the mounting plate, and the mounting plate is provided with visual clearance holes running vertically through the visual sensor, corresponding to the position of the visual sensor. The viewing angle capture area of ​​the visual sensor passes through the visual clearance holes and faces the material placement plane of the material placement station.

[0009] Furthermore, the area of ​​the visual clearance hole is smaller than the sum of the areas of the two material placement stations.

[0010] Furthermore, the horizontal rotation structure includes a first horizontal rotation arm, a second horizontal rotation arm, a first horizontal rotation drive motor, and a second horizontal rotation drive motor. One end of the first horizontal rotation arm is connected to the output end of the first horizontal rotation drive motor, and the second horizontal rotation drive motor is located at the other end of the first horizontal rotation arm. The second horizontal rotation arm is connected to the output end of the second horizontal rotation drive motor.

[0011] Furthermore, the telescopic structure includes a telescopic motor, a telescopic arm, a clamping assembly, and a clamping motor. The telescopic motor is located on the second horizontal rotating arm, the telescopic arm is connected to the output end of the telescopic motor, the lower end of the telescopic arm is provided with the clamping motor, and the clamping assembly is connected to the output end of the clamping motor. The clamping assembly is used to clamp the first material.

[0012] Furthermore, the clamping assembly includes a first clamping plate and a second clamping plate disposed opposite to each other, the first clamping plate and the second clamping plate being able to close or open relative to each other under the action of the clamping motor.

[0013] On the other hand, this utility model also provides a material welding device, including the above-mentioned material transfer device.

[0014] Furthermore, it also includes a loading rack, a material pushing mechanism, a loading robot, and a unloading robot. The loading rack holds a second material. The material transfer robot grabs a first material from the material placement station and pushes it to the welding station via the material pushing mechanism. The loading robot grabs a second material from the loading rack and places it at the welding station. The unloading robot is used to grab a complete material welded together from the welding station, consisting of the first material and the second material.

[0015] The beneficial effects of this utility model compared with the prior art are as follows: A vision-based material transfer device includes a material placement rack, a vision sensor, and a material transfer robot. The material placement rack is provided with a plurality of material placement stations arranged in a row. A first material is placed on the material placement station. The vision sensor is located above the material placement station and is movable along the distribution direction of the material placement station. The material transfer robot has at least a horizontal rotation structure with horizontal rotation function and a telescopic structure with vertical extension function. The material transfer robot is used to grasp the first material according to the position of the first material detected by the vision sensor. This invention can flexibly cover all material placement stations with different arrangements. Even if the first material to be grasped is randomly positioned due to manual placement, the moving vision sensor can accurately capture its actual position and orientation information, avoiding detection deviations caused by blind spots. At the same time, the material transfer robot has a horizontal rotation structure and a vertical extension structure. It can flexibly adjust the horizontal rotation angle and vertical extension height according to the position of the first material detected by the vision sensor, accurately adapting to the random placement state of the first material. This not only avoids the problem of easy failure and damage to materials when the robot grasps them according to a preset trajectory without a viewing angle or with a fixed viewing angle, but also improves the success rate and stability of material transfer.

[0016] The above description is only an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model, it can be implemented according to the contents of the specification. In order to make the above and other objectives, features and advantages of this utility model more obvious and easy to understand, the following are preferred embodiments, which are described in detail below. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A schematic diagram of the structure of a material welding device provided for a specific embodiment of this utility model;

[0019] Figure 2 This is a partial structural schematic diagram of a vision-based material transfer device provided for a specific embodiment of the present invention.

[0020] Figure Labels

[0021] 1. Material placement rack; 2. Vision sensor; 3. Material transfer robot; 4. Vision support frame; 5. Vision linear motion module; 51. Mounting plate; 511. Vision clearance hole; 6. Loading rack; 7. Loading robot; 8. Unloading robot; 9. Material pushing mechanism. Detailed Implementation

[0022] The technical solution of this utility model will be clearly and completely described below with reference to specific embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0023] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0024] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0025] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0026] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0027] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0028] like Figures 1 to 2 As shown in the figure, this utility model embodiment provides a vision-based material transfer device, including a material placement rack 1, a vision sensor 2, and a material transfer robot 3. The material placement rack 1 has a plurality of material placement stations arranged in a row, and a first material is placed on each material placement station. The vision sensor 2 is located above the material placement stations and is movable along the distribution direction of the material placement stations. The material transfer robot 3 has at least a horizontal rotation structure with horizontal rotation function and a telescopic structure with vertical extension function. The material transfer robot 3 is used to grasp the first material according to the position of the first material detected by the vision sensor 2.

[0029] It should be noted that the material placement station has a raised structure in the center. When the first material is placed in the material placement station, it can prevent the first material from moving horizontally. However, the first material is not restricted in the circumferential direction. Therefore, when placing the material manually, the part of the first material to be grasped may be in different positions in the circumferential direction.

[0030] The vision sensor 2 can be an industrial vision sensor 2 with image acquisition and position recognition functions. Its installation position corresponds to the area above the material placement station to ensure that the vision sensor 2 can clearly capture the image information of the first material on each material placement station.

[0031] The material transfer robot 3 is positioned beside the material placement rack 1 and is mounted on a fixed base. The fixed base provides stable support for the robot and prevents it from shaking during operation. The material transfer robot 3 mainly consists of a horizontal rotating structure and a telescopic structure.

[0032] Because vision sensor 2 can move along the distribution direction of the material placement stations, it can accurately detect the position of the first material at each station. Even if the part of the first material to be grasped is randomly positioned due to manual placement, vision sensor 2 can accurately capture its position information, providing a precise grasping basis for the material transfer robot 3. This avoids the grasping failure problem caused by the lack of viewing angle detection or fixed viewing angle detection in existing technologies. Simultaneously, the material transfer robot 3 has horizontal rotation and vertical extension functions. It can flexibly adjust the rotation angle and extension height according to the position of the first material detected by vision sensor 2, ensuring that the gripping components are precisely aligned with the part of the first material to be grasped. This effectively reduces grasping errors and avoids material damage or unstable gripping due to grasping position deviations, ensuring the stability of the material transfer process. The entire device, through the collaborative work of vision sensor 2 and material transfer robot 3, achieves automated operation from detection to transfer of the first material without manual intervention. This not only reduces labor costs but also significantly shortens the time for a single material transfer, improving overall production efficiency. Furthermore, it avoids the uncertainties caused by manual operation, ensuring the continuity of the production process.

[0033] In one embodiment, such as Figure 2 As shown, the vision-based material transfer device also includes a vision support frame 4. The bottom of the vision support frame 4 is connected to the material placement rack 1, and the top of the vision support frame 4 is provided with a vision linear motion module 5. The vision sensor 2 is located on the vision linear motion module 5.

[0034] The vision support frame 4 can be made of metal, with an overall frame or rod structure, possessing sufficient rigidity and load-bearing capacity to prevent deformation from affecting the detection accuracy of the vision sensor 2. The bottom of the vision support frame 4 is fixedly connected to the material placement rack 1 by bolts or welding. The connection position can be selected at the two edges of the material placement rack 1 along the workstation distribution direction, ensuring that the vision support frame 4 can span over the material placement workstation without obstructing the operator's operating space for placing the first material. The height of the vision support frame 4 is designed according to the detection requirements of the vision sensor 2, maintaining a preset distance between the top-mounted visual linear motion module 5 and the platform of the material placement workstation. This ensures that the vision sensor 2 can clearly acquire image information of the first material while preventing interference between the visual linear motion module 5 and the first material or material transfer robot 3 below.

[0035] The vision linear motion module 5 uses industrial-grade standard linear motion components, and its structure includes guide rails, sliders, transmission components, and drive components. The guide rails are fixedly installed on the top of the vision support frame 4 along the distribution direction of the material placement stations, and the length of the guide rails covers the distribution range of all material placement stations (i.e., it can cover...). Figure 1The width of the material placement rack 1 is used to ensure that the slider, which moves the vision sensor 2, covers each workstation. The slider slides along the guide rail, allowing for smooth reciprocating movement. The vision sensor 2 is detachably mounted on the slider using bolts or a special clamp. The sensor's lens faces directly downwards, directly onto the worktable area of ​​the material placement station, ensuring that the detection angle completely covers each individual material placement station. A transmission component works in conjunction with a drive component to move the slider. The transmission component can be a synchronous belt drive or a lead screw drive, and the drive component is a motor fixed to one end of the visual linear motion module 5. The motor's output shaft is connected to the transmission component. After the motor starts, the transmission component drives the slider to move along the guide rail, thereby enabling the vision sensor 2 to move along the distribution direction of the material placement stations. Simultaneously, the visual linear motion module 5 can also be equipped with limit components, such as travel switches, installed at both ends of the guide rail to limit the slider's movement range and prevent the slider from exceeding the guide rail's travel range, which could cause structural damage.

[0036] The vision support frame 4 provides a stable mounting carrier for the vision linear motion module 5, ensuring that the vision linear motion module 5 remains stable while moving the vision sensor 2, and avoiding detection deviations caused by unstable installation. As the moving carrier of the vision sensor 2, the vision linear motion module 5 can more reliably drive the vision sensor 2 to complete the detection of each material placement station.

[0037] In one embodiment, the moving end of the visual linear motion module 5 is provided with a mounting plate 51, and the visual sensor 2 is disposed above the mounting plate 51. The mounting plate 51 is provided with a visual clearance hole 511 running vertically through the visual sensor 2. The viewing angle capture area of ​​the visual sensor 2 passes through the visual clearance hole 511 and faces the material placement plane of the material placement station. The area of ​​the visual clearance hole 511 is smaller than the sum of the areas of the two material placement stations.

[0038] Mounting plate 51 can be made of metal or high-strength engineering plastic, and is flat in shape. Its shape can be designed according to the structure of the moving end (i.e., slider) of the visual linear motion module 5 and the installation requirements of the visual sensor 2, such as rectangular, circular, or irregularly shaped structures that fit the contour of the slider. It has sufficient flatness and load-bearing capacity to avoid the installation of the visual sensor 2 being misaligned due to its own deformation. Mounting plate 51 is fixedly connected to the slider of the visual linear motion module 5 by bolts or integral molding, and the connection position ensures that mounting plate 51 is set horizontally. The thickness of mounting plate 51 is designed according to the installation height requirements of visual sensor 2, which must ensure the stability of visual sensor 2 after installation, and avoid excessive thickness that would lead to redundancy in the overall structure.

[0039] On the mounting plate 51, a visual clearance hole 511 is provided vertically and horizontally below the lens of the vision sensor 2. The shape of the visual clearance hole 511 is adapted to the field of view capture area of ​​the vision sensor 2. It can be designed as a circle, a rectangle or other adapted shapes. For example, if the vision sensor 2 uses a wide-angle lens with a conical field of view, the visual clearance hole 511 is designed as a circle to ensure that the field of view capture area of ​​the lens can completely pass through the clearance hole and is not blocked by the mounting plate 51.

[0040] Furthermore, the area of ​​the visual obstacle avoidance hole 511 is designed to be smaller than the combined area of ​​the two material placement stations. This design ensures that the visual obstacle avoidance hole 511 only allows the first material image from the current material detection station to enter the vision sensor 2, preventing material images from adjacent stations from interfering with detection. Especially in scenarios with densely packed materials, this significantly reduces positioning errors caused by image interference, allowing the vision sensor 2 to accurately collect material information only from the current target station, thus significantly improving the accuracy of the detection data.

[0041] In one embodiment, the horizontal rotation structure includes a first horizontal rotation arm, a second horizontal rotation arm, a first horizontal rotation drive motor, and a second horizontal rotation drive motor. One end of the first horizontal rotation arm is connected to the output end of the first horizontal rotation drive motor, and the second horizontal rotation drive motor is located at the other end of the first horizontal rotation arm. The second horizontal rotation arm is connected to the output end of the second horizontal rotation drive motor.

[0042] The first horizontal rotating arm has an overall elongated rod structure, and the cross-section of the rod can be designed as rectangular or circular. To further reduce weight and rotational inertia, the rod can be hollow, retaining only the necessary load-bearing wall thickness. One end of the first horizontal rotating arm needs to be machined with a mounting hole that matches the coupling, and the inner wall of the hole is provided with internal threads so that it can be tightly connected to the coupling with bolts to ensure stable power transmission. The other end needs to be machined with a motor mounting surface, and bolt holes are reserved on the surface for fixing the second horizontal rotating drive motor.

[0043] The first horizontal rotary drive motor is an industrial-grade servo motor or stepper motor. The motor body is connected to the fixed base of the material transfer robot 3 via a flange. The mounting holes on the flange are aligned with the preset holes on the base, and high-strength bolts are used for fastening to ensure that the motor does not shift during operation. The motor output shaft is arranged vertically, and a keyway is machined at the end of the shaft. It is connected to the coupling via a flat key, thereby driving the first horizontal rotary arm to rotate around the output shaft axis on the horizontal plane.

[0044] The material and structural design of the second horizontal rotating arm are consistent with those of the first horizontal rotating arm. Its length can be flexibly adjusted according to the distribution range of the material placement rack 1 and the distance of the target transfer position. One end of the second horizontal rotating arm is also machined with a mounting hole adapted to the coupling for connecting to the output shaft of the second horizontal rotating drive motor. The other end is used to install telescopic structures (such as telescopic arms and clamping components). Therefore, corresponding installation interfaces, such as flanges or bolt holes, need to be reserved.

[0045] The second horizontal rotary drive motor is the same model as the first horizontal rotary drive motor to ensure unified control logic and good motion coordination between the two motors. This motor is fixed to the motor mounting plane at the end of the first horizontal rotary arm via a flange. Vibration damping pads can be added between the flange and the mounting plane to reduce the impact of vibrations generated during motor operation on the first horizontal rotary arm. The motor output shaft is also arranged vertically and is connected to the mounting hole of the second horizontal rotary arm via a coupling, driving the second horizontal rotary arm to rotate independently on the horizontal plane around the output shaft axis.

[0046] In one embodiment, the telescopic structure includes a telescopic motor, a telescopic arm, a clamping assembly, and a clamping motor. The telescopic motor is located on the second horizontal rotating arm, the telescopic arm is connected to the output end of the telescopic motor, the lower end of the telescopic arm is provided with a clamping motor, and the clamping assembly is connected to the output end of the clamping motor. The clamping assembly is used to clamp the first material.

[0047] The telescopic motor is an industrial-grade servo motor or stepper motor. The selected telescopic motor has a built-in encoder, which can provide real-time feedback on the lifting position of the telescopic arm, preventing overtravel and structural damage. The telescopic motor is fixed to the end of the second horizontal rotating arm away from the second horizontal rotary drive motor via a motor mounting bracket. The motor mounting bracket is integrally formed with the second horizontal rotating arm or rigidly connected by bolts to ensure that the motor does not wobble during operation. The mounting bracket needs to be designed with an "L" or "U" shape, so that the motor output shaft is arranged vertically, leaving space for the installation of the telescopic arm. A keyway is machined at the end of the motor output shaft, which connects to a transmission component (such as a ball screw or gear) via a flat key, converting the motor's rotational motion into the linear lifting motion of the telescopic arm.

[0048] The telescopic boom can be made of high-strength metal materials (such as stainless steel or high-strength aluminum alloy), with an overall elongated rod structure and a circular cross-section. The upper end of the telescopic boom needs to be machined with a connection structure adapted to the transmission components. For example, if a ball screw drive is used, a screw nut needs to be fixed at the upper end of the telescopic boom. The nut meshes with the screw, and the rotation of the screw drives the telescopic boom to move up and down. The lower end of the telescopic boom needs to be machined with a mounting surface for the clamping motor. Bolt holes are pre-drilled on the surface for fixing the clamping motor, and the mounting surface must be kept horizontal to ensure that the clamping components apply even force when gripping materials.

[0049] The clamping motor can be a miniature servo motor or a stepper motor, which is small in size and has moderate torque, making it suitable for installation in the limited space at the lower end of the telescopic arm. It also supports forward and reverse rotation control and can drive the clamping assembly to achieve closing and opening movements. The clamping motor is fixed to the mounting plane at the lower end of the telescopic arm via a flange. A shock-absorbing pad is added between the flange and the mounting plane to reduce the impact of motor vibration on the telescopic arm. The motor output shaft is arranged horizontally, and the shaft end is machined with a keyway or external thread. It is connected to the gear transmission mechanism via a flat key, or directly cooperates with the transmission component (such as a lead screw) of the clamping assembly to convert the rotational motion into the opening and closing motion of the clamping assembly.

[0050] The clamping assembly includes a clamping bracket, a first clamping plate, and a second clamping plate. The clamping bracket is made of metal and is bolted to the lower end of the telescopic arm, providing a mounting platform for the clamping plates and the clamping motor. The first and second clamping plates are symmetrically arranged on both sides of the clamping bracket and can be made of polyurethane or rubber-coated metal plates. The inner side of the clamping plates needs to be machined with anti-slip textures to improve gripping stability. The two ends of the clamping plates are slidably connected to the horizontal guide rails on the clamping bracket via sliders to ensure that the clamping plates can open and close smoothly along the guide rails without deviation. The back of the clamping plates needs to be machined with a rack and pinion or lead screw and nut structure to mesh with the gears or lead screws driven by the clamping motor. When the gears rotate, they drive the two clamping plates to move relative to each other, realizing closing gripping or opening release.

[0051] like Figures 1 to 2 As shown, this utility model embodiment also provides a material welding equipment, including the above-mentioned material transfer device, loading rack 6, material pushing mechanism 9, loading robot 7 and unloading robot 8. The loading rack 6 holds a second material. The material transfer robot 3 grabs the first material from the material placement station and pushes it to the welding station through the material pushing mechanism 9. The loading robot 7 grabs the second material from the loading rack 6 and places it at the welding station. The unloading robot 8 is used to grab the integral material welded together by the first material and the second material from the welding station.

[0052] The feeding rack 6 is made of metal and has an overall frame structure. The bottom of the frame is equipped with support feet, and anti-slip pads or adjusting bolts can be installed on the bottom of the support feet to ensure that the feeding rack 6 is placed stably and the height can be slightly adjusted according to the flatness of the ground.

[0053] The material pushing mechanism 9 is located between the material placement rack 1 and the welding station, and includes a pushing bracket, a pushing cylinder (or electric push rod), and a pushing plate. The pushing bracket is made of metal and is bolted to the ground or equipment base. A horizontal guide rail is provided on the bracket to guide the movement of the pushing plate. The pushing cylinder (or electric push rod) is fixed to the end of the pushing bracket furthest from the welding station, with its output shaft arranged horizontally and its end fixedly connected to the pushing plate. The pushing plate is made of metal, with one side connected to the output shaft of the pushing cylinder and the other side machined with a positioning groove adapted to the shape of the first material to ensure stable pushing of the first material without deviation. The pushing mechanism also needs to be equipped with a position sensor (such as a photoelectric sensor), installed at the end of the pushing bracket closest to the welding station, to detect whether the first material has been pushed to the preset position of the welding station. The detection signal is transmitted to the control unit in real time.

[0054] Both the loading robot 7 and the unloading robot 8 can be common multi-axis robots available on the market, which will not be elaborated on here.

[0055] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this utility model, and these modifications or substitutions should all be covered within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A vision-based material transfer device, characterized in that, The device includes a material placement rack, a vision sensor, and a material transfer robot. The material placement rack has several material placement stations arranged in a row. A first material is placed on each material placement station. The vision sensor is located above the material placement station and is movable along the distribution direction of the material placement station. The material transfer robot has at least a horizontal rotation structure with horizontal rotation function and a telescopic structure with vertical extension function. The material transfer robot is used to grasp the first material according to the position of the first material detected by the vision sensor.

2. The vision-based material transfer device according to claim 1, characterized in that, It also includes a vision support frame, the bottom of which is connected to the material placement rack, and the top of which is provided with a vision linear motion module, and the vision sensor is located on the vision linear motion module.

3. The vision-based material transfer device according to claim 2, characterized in that, The moving end of the visual linear motion module is provided with a mounting plate, and the visual sensor is located above the mounting plate. The mounting plate is provided with visual clearance holes running vertically through the visual sensor, and the visual sensor’s field of view capture area passes through the visual clearance holes and faces the material placement plane of the material placement station.

4. A vision-based material transfer device according to claim 3, characterized in that, The area of ​​the visual clearance hole is less than the sum of the areas of the two material placement stations.

5. A vision-based material transfer device according to claim 1, characterized in that, The horizontal rotation structure includes a first horizontal rotation arm, a second horizontal rotation arm, a first horizontal rotation drive motor, and a second horizontal rotation drive motor. One end of the first horizontal rotation arm is connected to the output end of the first horizontal rotation drive motor, and the second horizontal rotation drive motor is located at the other end of the first horizontal rotation arm. The second horizontal rotation arm is connected to the output end of the second horizontal rotation drive motor.

6. A vision-based material transfer device according to claim 5, characterized in that, The telescopic structure includes a telescopic motor, a telescopic arm, a clamping assembly, and a clamping motor. The telescopic motor is located on the second horizontal rotating arm. The telescopic arm is connected to the output end of the telescopic motor. The clamping motor is located at the lower end of the telescopic arm. The clamping assembly is connected to the output end of the clamping motor. The clamping assembly is used to clamp the first material.

7. A vision-based material transfer device according to claim 6, characterized in that, The clamping assembly includes a first clamping plate and a second clamping plate disposed opposite to each other, and the first clamping plate and the second clamping plate can be closed or opened relative to each other under the action of the clamping motor.

8. A material welding device, characterized in that, Includes the material transfer device according to any one of claims 1-7.

9. A material welding device according to claim 8, characterized in that, It also includes a loading rack, a material pushing mechanism, a loading robot, and a unloading robot. The loading rack holds a second material. The material transfer robot picks up a first material from the material placement station and pushes it to the welding station through the material pushing mechanism. The loading robot picks up the second material from the loading rack and places it at the welding station. The unloading robot is used to pick up the integral material welded together from the welding station.

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