Automatic grabbing feeding and discharging device

Abstract

The utility model relates to an automatic fetching and feeding device belongs to manufacturing and processing automation technical field, and the device includes feeding area, visual identification system, robot fetching system, draw bending processing equipment and control system, and the visual identification system first obtains the three -dimensional coordinate data of the incoming material section through 3D vision camera, and the mechanical arm is guided to fetch the product, and then the side profile and direction are verified through 2D vision camera, and the product is put into draw bending equipment processing after ensuring correct and accurate, the utility model discloses 3D and 2D vision collaborative identification, effectively overcome the recognition error caused by metal reflection, realized full -automatic feeding, improved the positioning accuracy and operation reliability, reduced the risk of mould damage, reduced the artificial cost simultaneously, and is applicable to the automatic processing scene of multiple sections.

Description

Technical Field

[0001] This utility model belongs to the field of manufacturing automation technology, specifically relating to an automatic gripping and loading / unloading device. Background Technology

[0002] With the continuous improvement of automation in the manufacturing industry, centralized material handling systems are becoming increasingly important in improving production efficiency and reducing labor costs. Especially in the field of profile processing, such as the production of long tubes or irregularly shaped parts like luggage racks, the use of automated loading and unloading devices can significantly reduce manual intervention, improve work consistency, and enable one person to operate multiple machines, thereby increasing efficiency and reducing operating costs.

[0003] Because the incoming profiles come in dozens of shapes and sizes, and are not all correctly and neatly stacked—for example, there may be errors in the incoming material information card, mixed materials, or products placed in the wrong orientation—manual judgment is required to determine whether the products are correct and whether the placement is reasonable. However, due to the similar shapes of the incoming profiles, it is easy to miss judgments, and incorrect incoming profiles entering the processing stage can cause serious damage to the molds. Therefore, adopting automated gripping to replace manual sorting and handling is a practical production necessity, and the problem of identifying and judging the incoming material condition also needs to be solved during the automated gripping process. Utility Model Content

[0004] To address the aforementioned problems in the existing technology, this utility model provides an automatic gripping and loading / unloading device. The technical problem to be solved by this utility model is achieved through the following technical solution: This utility model provides an automatic gripping and loading device, including: a loading area, a vision recognition system, a robotic gripping system, a bending processing equipment, and a control system; the loading area is used to position and place a pallet, on which multiple layers of incoming profiles are stacked; the vision recognition system includes a vision support, a 3D vision camera, and a 2D vision camera, the vision support being fixed above the loading area, the 3D vision camera being positioned directly above the vision support, and used to identify the incoming profiles on the pallet to obtain their three-dimensional spatial coordinate data; the 2D vision camera is positioned on the side of the vision support, and used to identify the side of the incoming profiles to obtain their contour shape and orientation information; the robotic gripping system includes a multi-degree-of-freedom robotic arm and a contour-following gripper positioned at the end of the robotic arm, the robotic arm gripping the profiles according to the 3D vision support... The robot arm moves to the target position based on the acquired three-dimensional spatial coordinate data, and the contour gripper performs a grasping action. The bending processing equipment is located near the loading area to receive and process the incoming profiles gripped and placed by the robot gripping system, and the robot gripping system then grips the processed incoming profiles to the unloading area. The control system is connected to the vision recognition system, the robot gripping system, and the bending processing equipment, and is used to control the movements of the robotic arm, the contour gripper, and the bending processing equipment based on the three-dimensional spatial coordinate data and the contour shape and direction information. The control system is configured to first guide the contour gripper to grasp the incoming profiles based on the three-dimensional spatial coordinate data, and then determine the type and direction of the grasped incoming profiles based on the contour shape and direction information.

[0005] In one embodiment of this utility model, the visual support is a rigid frame with height and angle adjustment functions to accommodate the stacking height of the pallets.

[0006] In one embodiment of this utility model, the 2D vision camera is a camera equipped with a polarizing lens. The polarizing lens filters out reflected light with a specific polarization direction to improve the accuracy of contour recognition of the incoming profile.

[0007] In one embodiment of this utility model, the robotic arm is a multi-axis articulated industrial robot, the contour gripper is pneumatically driven or servo-electrically driven, and the shape of its gripping surface is adapted to the local shape of the incoming profile to be gripped.

[0008] In one embodiment of this utility model, a buffer zone is provided between the feeding area and the bending processing equipment, and the buffer zone is used to temporarily store the incoming profile.

[0009] In one embodiment of this utility model, the control system pre-stores model and orientation information to determine the model and orientation of the incoming profile being grasped. If the pre-stored model and orientation information matches the outline shape and orientation information of the incoming profile being grasped, the control system controls the robotic arm to place the incoming profile into the bending processing equipment; if not, the control system controls the robotic arm to move the incoming profile to the buffer zone.

[0010] In one embodiment of this utility model, a protective material is provided between two adjacent layers of incoming profiles in the tray. After the robotic arm grabs one layer of the incoming profile, the protective material is grabbed and removed to the buffer zone by the contour gripper based on the three-dimensional spatial coordinate information of the protective material obtained by the 3D vision camera.

[0011] In one embodiment of this utility model, the automatic gripping and loading device further includes a signal indicator light, which is connected to the control system. When the vision recognition system identifies that all incoming profiles in the pallet of the loading area have been gripped, the control system triggers the signal indicator light to emit a light alarm signal to prompt the operator to replace the material.

[0012] Compared with the prior art, the beneficial effects of this utility model are as follows: This invention relates to an automatic gripping and loading / unloading device that effectively solves the problem of positioning and orientation verification of incoming profiles under reflective metal conditions through the collaborative recognition of 3D and 2D vision cameras. The 3D vision camera acquires the three-dimensional spatial coordinate data of the product from top to bottom, ensuring accurate gripping by the robotic arm; the 2D vision camera verifies the contour shape and orientation from the side, avoiding processing errors caused by incorrect product placement or mixed materials. This multi-view collaboration significantly improves recognition accuracy and reliability, reduces the risk of mold damage, and achieves fully automated loading and unloading, reducing reliance on manual labor and improving production efficiency and product quality stability.

[0013] The above description is merely an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this utility model more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of an automatic gripping and loading / unloading device provided in an embodiment of the present utility model; Figure 2 This is a schematic diagram of the visual recognition and positioning principle provided in this embodiment of the utility model; Figure 3This is a schematic diagram of the working principle of the automatic gripping and loading device provided in this embodiment of the utility model.

[0015] Icons: 1-Pallet; 2-Loading area; 3-Vision support; 4-3D vision camera; 5-Control system; 6-Robotic arm; 7-Contouring gripper; 8-2D vision camera; 9-Buffer zone; 10-Bending processing equipment; 11-Unloading area. Detailed Implementation

[0016] To further illustrate the technical means and effects adopted by this utility model to achieve its intended purpose, the following detailed description of an automatic gripping and loading / unloading device based on this utility model is provided in conjunction with the accompanying drawings and specific embodiments.

[0017] The foregoing and other technical contents, features, and effects of this utility model will be clearly presented in the following detailed description of the specific embodiments with reference to the accompanying drawings. Through the description of the specific embodiments, a more in-depth and specific understanding can be gained of the technical means and effects adopted by this utility model to achieve the intended purpose. However, the accompanying drawings are only provided for reference and illustration and are not intended to limit the technical solution of this utility model.

[0018] Example 1 When handling reflective silver metals or complex materials with similar shapes, existing automated loading and unloading devices suffer from low recognition accuracy, easily leading to misjudgments or missed detections. Especially when the metal surface is reflective and the incoming profiles have diverse shapes and sizes, a single vision system struggles to simultaneously and accurately acquire the three-dimensional position and orientation information of the incoming profiles, resulting in frequent recognition errors. Furthermore, the lack of multi-view collaborative verification makes it difficult to effectively handle situations where incoming materials are placed in the wrong orientation or are mixed, thus limiting the level of automation in loading and unloading. Therefore, this utility model provides an automatic gripping and loading / unloading device, such as... Figure 1 and Figure 2 As shown, Figure 1 This is a schematic diagram of the structure of an automatic gripping and loading / unloading device provided in an embodiment of the present utility model; Figure 2 This is a schematic diagram of the visual recognition and positioning principle provided in this embodiment of the utility model; Figure 3 This is a schematic diagram of the working principle of the automatic gripping and loading device provided in this embodiment of the utility model.

[0019] In this embodiment, the automatic gripping and loading device includes: a loading area 2, a vision recognition system, a robot gripping system, a bending processing equipment 10, a unloading area 11, and a control system 5; the loading area 2 is used to position and place the pallet 1, on which multiple layers of incoming profiles are stacked; the bending processing equipment 10 is located near the loading area 2 and is used to receive and process the incoming profiles gripped and placed by the robot gripping system, and the robot gripping system grips the processed incoming profiles to the unloading area 11.

[0020] Specifically, the visual recognition system includes a visual support 3, a 3D visual camera 4, and a 2D visual camera 8. The visual support 3 is fixed above the loading area 2. The 3D visual camera 4 is set directly above the visual support 3 and is used to identify the incoming profiles on the pallet 1 to obtain their three-dimensional spatial coordinate data. The 2D visual camera 8 is set on the side of the visual support 3 and is used to identify the side of the incoming profiles to obtain their outline shape and orientation information.

[0021] In an alternative implementation, the vision support 3 may be configured as a rigid frame with height and angle adjustment capabilities to accommodate the stacking height of the pallet 1.

[0022] In one optional implementation, the 2D vision camera 8 is a camera equipped with a polarizing lens, which filters out reflected light with a specific polarization direction to improve the accuracy of contour recognition of incoming profiles.

[0023] It is worth noting that the 3D vision camera 4 is positioned above the vision support 3, enabling it to acquire high-precision 3D data of the incoming profile from top to bottom. This solves the spatial positioning problem and ensures the accuracy of the robotic arm 6's gripping position. The 2D vision camera 8, equipped with a polarizing lens and mounted on the side of the vision support 3, effectively extracts the side profile and directional features of the incoming profile by filtering out reflected light from specific directions on the metal surface and suppressing glare interference from the silver-white metal material surface. This compensates for the shortcomings of the 3D camera in recognizing 2D details. This multi-view collaborative mechanism significantly improves the reliability and efficiency of recognition under complex conditions such as metal reflection and similar shapes, avoiding mold damage and quality problems caused by missed or incorrect judgments.

[0024] The robotic grasping system includes a multi-degree-of-freedom robotic arm 6 and a contour gripper 7 located at the end of the robotic arm 6. The robotic arm 6 moves to the target position based on the three-dimensional spatial coordinate data acquired by the 3D vision camera 4, and the contour gripper 7 performs the grasping action.

[0025] In one alternative implementation, the robotic arm 6 is a multi-axis articulated industrial robot, and the contour gripper 7 is pneumatically driven or servo-electrically driven, with its gripping surface shape adapted to the local shape of the incoming material to be gripped.

[0026] In this embodiment, the control system 5 is connected to the vision recognition system, the robot gripping system, and the bending processing equipment 10, respectively, and is used to control the movements of the robotic arm 6, the contour gripper 7, and the bending processing equipment 10 according to the three-dimensional spatial coordinate data, the contour shape, and the direction information. The control system 5 is configured to first guide the contour gripper 7 to grip the incoming profile according to the three-dimensional spatial coordinate data, and then determine the model and direction of the gripped incoming profile according to the contour shape and direction information.

[0027] Furthermore, the control system 5 has pre-stored model (including outline shape) and orientation information to determine the model and orientation of the incoming material being gripped. If the pre-stored model and orientation information matches the outline shape and orientation information of the incoming material being gripped, the control robot arm 6 will place the incoming material into the bending processing equipment 10. If it is incorrect, the control robot arm 6 will move the incoming material to the buffer zone 9. The buffer zone 9 is located between the loading area 2 and the bending processing equipment 10 and is used to temporarily store the incoming material.

[0028] In an optional implementation, protective material is provided between two adjacent layers of incoming profiles in the tray 1. After the robotic arm 6 grabs one layer of incoming profiles, it uses the contour gripper 7 to grab and remove the protective material to the buffer zone 9 based on the three-dimensional spatial coordinate information of the protective material obtained by the 3D vision camera 4.

[0029] In an optional implementation, the automatic gripping and loading device of this embodiment also includes a signal indicator light. The signal indicator light is connected to the control system 5. When the vision recognition system identifies that all incoming profiles in the pallet 1 of the loading area 2 have been gripped, that is, when there are no incoming profiles in the pallet 1, the control system 5 triggers the signal indicator light to emit a light alarm signal to prompt the operator to replace the material.

[0030] To enable those skilled in the art to fully understand and implement this utility model, the following supplementary explanation of the specific implementation principle of this utility model is provided in conjunction with a specific application scenario.

[0031] like Figure 2 and Figure 3 As shown, the working process of the automatic gripping and loading / unloading device of this utility model is as follows: The incoming material pallet 1 is placed in the loading area 2. The 3D vision camera 4 above the vision support 3 takes pictures of the multi-layer luggage rack profiles on the pallet 1 to obtain their three-dimensional spatial coordinate data. The control system 5 drives the robotic arm 6 to move to the target position based on the three-dimensional spatial coordinate data and grabs the incoming material profiles through the contour gripper 7 at the end. Subsequently, the 2D vision camera 8 on the side of the vision support 3 takes side pictures of the grabbed incoming material profiles to obtain the outline shape and orientation information. The control system 5 then compares it with the pre-stored data to determine whether the model or placement orientation is correct. If the model (including the outline shape) and orientation are correct, the robotic arm 6 puts the profile into the bending processing equipment 10 for processing. After processing, the robotic arm 6 takes it out and places it in the unloading area 11. If the identification is incorrect, the robotic arm 6 directly moves the incoming material profiles to the buffer zone 9. After one layer of profiles is grabbed, the 3D vision camera 4 continues to identify the interlayer protective material. The robotic arm 6 grabs and removes the protective material and continues to grab the next layer. Until all profiles in the pallet 1 have been processed, the control system 5 triggers the signal indicator alarm to prompt the replacement of materials.

[0032] This invention relates to an automatic gripping and loading / unloading device that effectively solves the problem of positioning and orientation verification of incoming profiles under reflective metal conditions through the collaborative recognition of 3D and 2D vision cameras. The 3D vision camera acquires the three-dimensional spatial coordinate data of the product from top to bottom, ensuring accurate gripping by the robotic arm; the 2D vision camera verifies the contour shape and orientation from the side, avoiding processing errors caused by incorrect product placement or mixed materials. This multi-view collaboration significantly improves recognition accuracy and reliability, reduces the risk of mold damage, and achieves fully automated loading and unloading, reducing reliance on manual labor and improving production efficiency and product quality stability.

[0033] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations are intended to cover non-exclusive inclusion, such that an article or device comprising a list of elements includes not only those elements but also other elements not expressly listed. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the article or device comprising said element. Terms such as "connected" or "linked" are not limited to physical or mechanical connections but can include electrical connections, whether direct or indirect. The orientations or positional relationships indicated by terms such as "upper," "lower," "left," and "right" are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention.

[0034] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, various simple deductions or substitutions can be made without departing from the concept of the present invention, and all such modifications and substitutions should be considered within the protection scope of the present invention.

Claims

1. An automatic gripping and loading / unloading device, characterized in that, include: Material loading area, visual recognition system, robot gripping system, bending processing equipment and control system; The loading area is used to position and place pallets, on which multiple layers of incoming profiles are stacked. The visual recognition system includes a visual support, a 3D visual camera, and a 2D visual camera. The visual support is fixed above the loading area. The 3D visual camera is positioned directly above the visual support and is used to identify the incoming profiles on the pallet to obtain their three-dimensional spatial coordinate data. The 2D visual camera is positioned on the side of the visual support and is used to identify the side of the incoming profiles to obtain their outline shape and orientation information. The robotic grasping system includes a multi-degree-of-freedom robotic arm and a contoured gripper located at the end of the robotic arm. The robotic arm moves to the target position based on the three-dimensional spatial coordinate data acquired by the 3D vision camera, and the contoured gripper performs the grasping action. The bending processing equipment is located near the loading area and is used to receive and process the incoming profiles that are picked up and placed by the robot gripping system, and the robot gripping system picks up the processed incoming profiles and places them in the unloading area. The control system is connected to the vision recognition system, the robot gripping system and the bending processing equipment respectively, and is used to control the movements of the robotic arm, the contour gripper and the bending processing equipment according to the three-dimensional spatial coordinate data and the contour shape and direction information; The control system is configured to first guide the contour gripper to grasp the incoming profile based on the three-dimensional spatial coordinate data, and then determine the model and orientation of the grasped incoming profile based on the contour shape and orientation information.

2. The automatic gripping and loading / unloading device according to claim 1, characterized in that, The vision support is a rigid frame with height and angle adjustment functions to accommodate the stacking height of the pallets.

3. The automatic gripping and loading / unloading device according to claim 1, characterized in that, The 2D vision camera is a camera equipped with a polarizing lens. The polarizing lens filters out reflected light with a specific polarization direction to improve the accuracy of contour recognition of the incoming profile.

4. The automatic gripping and loading / unloading device according to claim 1, characterized in that, The robotic arm is a multi-axis articulated industrial robot, and the contour gripper is pneumatically driven or servo-electrically driven, and the shape of its gripping surface is adapted to the local shape of the incoming profile to be gripped.

5. The automatic gripping and loading / unloading device according to claim 1, characterized in that, A buffer zone is provided between the feeding area and the bending processing equipment, and the buffer zone is used to temporarily store the incoming profiles.

6. The automatic gripping and unloading device according to claim 5, characterized in that, The control system has pre-stored model and orientation information to determine the model and orientation of the incoming profile being grasped. If the pre-stored model and orientation information matches the outline shape and orientation information of the incoming profile being grasped, the control system will place the robotic arm into the bending processing equipment. If not, the control system will move the robotic arm to the buffer zone.

7. The automatic gripping and loading / unloading device according to claim 5, characterized in that, A protective material is provided between two adjacent layers of incoming profiles in the tray. After the robotic arm grabs one layer of incoming profiles, it uses the contour gripper to grab and remove the protective material to the buffer zone based on the three-dimensional spatial coordinate information of the protective material obtained by the 3D vision camera.

8. The automatic grabbing feeding and discharging device according to claim 1, characterized in that, Further comprising a signal indicator lamp connected to the control system, when the visual identification system identifies that all the incoming profiles in the tray of the feeding area have been picked up, the control system triggers the signal indicator lamp to send out a light alarm signal to prompt the operator to replace the materials.

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