An automatic loading and unloading system using visual guidance robot

Abstract

This invention proposes an automatic loading and unloading system for a vision-guided robot, relating to the field of robot loading and unloading technology. It includes a guide bracket, with a sliding seat fixedly installed inside the guide bracket, and a rotating clamping plate fixedly installed inside the sliding seat. The advantages of this invention are: an auxiliary gripping structure formed by the guide bracket, sliding seat, and rotating clamping plate is added to one end of the vision-guided robot that grips the workpiece. This auxiliary gripping structure assists the loading and unloading suction cup in clamping the workpiece. A pressing slider that moves with the workpiece is installed inside the rotating clamping plate. A pressure sensor detects the pressure generated by the sliding of the pressing slider. Based on the pressure feedback, the system judges the slippage of the gripped workpiece and controls the rotating clamping plate and sliding seat to enhance the clamping force on the workpiece. This system can detect abnormalities in workpiece gripping in real time and effectively prevent workpiece detachment, ensuring the stability of loading and unloading.

Description

Technical Field

[0001] This utility model relates to the field of robot loading and unloading technology, and in particular to an automatic loading and unloading system for robots using vision guidance. Background Technology

[0002] In manufacturing, robotic loading and unloading systems are crucial for improving production efficiency and automation levels. With the development of intelligent manufacturing, optimizing robotic loading and unloading systems using vision-guided technology has become a key area of ​​exploration for the industry. Vision-guided robotic automated loading and unloading systems use industrial cameras to collect workpiece position and posture information, which, after algorithm processing, guides the robot to complete the workpiece gripping, positioning, and placement. These automated systems are widely used in production lines for automotive parts processing, 3C product assembly, and electronic component packaging. Their core value lies in replacing manual labor for repetitive loading and unloading operations, improving production efficiency and positioning accuracy, while reducing labor costs and operational error rates.

[0003] However, existing vision-guided robot automatic loading and unloading systems are not convenient for detecting and handling abnormal situations such as workpiece detachment during the workpiece grabbing process, which is not conducive to production stability. Utility Model Content

[0004] Therefore, the purpose of this utility model is to propose an automatic loading and unloading system for vision-guided robots to solve the problems mentioned in the background art and overcome the shortcomings of the existing technology.

[0005] To achieve the above objectives, one embodiment of this utility model provides a vision-guided robot automatic loading and unloading system, including a PLC control system for automated control and a robot body controlled by the PLC control system. A loading and unloading suction cup for adsorption and fixation is fixedly installed at one end of the robot body. A vision sensor for visual guidance is provided on one side of the loading and unloading suction cup, and a guide bracket for support is provided on one side of the vision sensor. A sliding seat for sliding adjustment is fixedly installed inside the guide bracket. A rotating clamping plate for auxiliary clamping of the workpiece is fixedly installed inside the sliding seat. A pressing slider that moves with the workpiece is movably connected inside the rotating clamping plate. A pressure sensor for pressure detection is attached to one side of the pressing slider. A laser rangefinder sensor for real-time detection of the workpiece gripping position is fixedly installed inside the loading and unloading suction cup.

[0006] Preferably, in any of the above solutions, a connecting rod for mounting the guide bracket is provided between the robot body and the loading / unloading suction cups, a vacuum pump connected to the PLC control system is provided at the top of the loading / unloading suction cups, and the vision sensor is connected to the PLC control system and fixedly installed at one end of the robot body.

[0007] The above technical solution is adopted: the connecting rod (made of stainless steel, which is fixed to the robot end effector and the suction cup respectively) between the robot body (six-axis industrial robot) and the loading and unloading suction cups has the core function of connecting and supporting the loading and unloading suction cups and the guide bracket. Its role is to ensure that the suction cups and the robot move synchronously, and at the same time provide a stable installation benchmark for the guide bracket. The positioning pin on the surface of the connecting rod cooperates with the positioning hole of the guide bracket to ensure the coaxiality of the bracket and the suction cup and avoid the offset of the auxiliary clamping structure.

[0008] Preferably, in any of the above solutions, the guide bracket is fixedly installed on the connecting rod of the robot body by bolts, and the guide bracket has a groove inside to guide the sliding seat.

[0009] The above technical solution is adopted: the guide bracket (made of aluminum alloy and fixed to the mounting flange of the connecting rod) has a groove inside to guide the sliding seat. Its core function is to provide linear guidance for the sliding seat, and its purpose is to ensure that the sliding seat drives the rotating clamp to move along a fixed trajectory, so as to avoid damage to the workpiece due to deviation during clamping.

[0010] Preferably, in any of the above embodiments, the sliding seat includes a pneumatic telescopic rod connected to the PLC control system signal and a sliding block for support. The pneumatic telescopic rod is fixedly installed inside the guide bracket, and a sliding block that moves inside the guide bracket is fixedly installed at one end of the pneumatic telescopic rod.

[0011] The above technical solution is adopted: the pneumatic telescopic rod (double-acting cylinder, connected to the PLC via a solenoid valve signal) of the sliding seat is fixed to one end of the slide groove of the guide bracket, and the output end is connected to the sliding block (aluminum alloy material, with clearance fit with the slide groove, and anodized surface treatment) through a thread. The core function is to drive the sliding block to move along the slide groove and adjust the distance between the rotating clamp and the workpiece. Its function is to adapt to the clamping requirements of workpieces of different sizes and ensure that the clamping plate can accurately fit the workpiece surface.

[0012] Preferably, in any of the above embodiments, the rotating clamping plate includes a flipping motor connected to the PLC control system signal and a clamping plate for clamping the workpiece. The flipping motor is movably connected to one end of the guide bracket. The output end of the flipping motor is fixedly installed with the clamping plate that rotates inside the sliding block. One end of the flipping motor is provided with a connecting rod that is fixedly installed with the sliding block. One end of the clamping plate is provided with an anti-slip pad to prevent the workpiece from sliding.

[0013] The above technical solution is adopted: the rotating clamping plate's flipping motor (servo motor, connected to the PLC via pulse signal) is movably connected to one end of the guide bracket via a connecting fixing rod (stainless steel material, welded and fixed to the sliding block). The output end is connected to the fixed clamping plate (cold-rolled steel plate material, with anti-slip pads (silicone material) on the working surface) via a key. The core function is to drive the clamping plate to flip and fit the workpiece, providing auxiliary clamping force. Its role is to cooperate with the loading and unloading suction cups to form a "adsorption + clamping" double fixation to prevent the workpiece from slipping during movement.

[0014] Preferably, in any of the above embodiments, the extrusion slider is movably connected to the inside of the clamping plate, and one end of the extrusion slider is provided with a protective rubber pad that is fixedly installed with the clamping plate.

[0015] The above technical solution is adopted: the extrusion slider (made of polytetrafluoroethylene, with clearance fit with the slider groove of the clamping plate) is movably connected inside the clamping plate, and one end is fixed with a protective rubber pad (made of polyurethane) by glue (epoxy glue). The core function is to move synchronously with the workpiece and trigger the pressure sensor to detect. Its role is to provide real-time feedback on whether there is any abnormal slippage of the workpiece. At the same time, the protective rubber pad buffers the pressure of the slider on the workpiece and avoids scratches on the workpiece surface.

[0016] Preferably, in any of the above solutions, the pressure sensor is fixedly installed inside the clamping plate, and the laser rangefinder is fixedly installed inside the loading and unloading suction cup.

[0017] The above technical solution employs a pressure sensor (strain gauge pressure sensor, fixed to the sensor slot of the clamping plate by countersunk screws). Its core function is to detect the extrusion pressure of the extrusion slider, and its role is to determine whether the workpiece has slipped. When the workpiece is clamped normally, the slider does not move, and the sensor pressure is stable at the initial value. When the workpiece slips and pushes the slider to squeeze the sensor, the pressure value exceeds the preset threshold, and the sensor immediately sends an abnormal signal to the PLC. If the pressure value drops sharply (indicating that the workpiece has fallen off), an abnormal alarm is also triggered.

[0018] Compared with the prior art, the advantages and beneficial effects of this utility model are as follows: 1. An auxiliary gripping structure, consisting of a guide bracket, a sliding seat, and a rotating clamp, is added to one end of the vision-guided robot that grips the workpiece. This auxiliary gripping structure assists the loading and unloading suction cups in clamping the workpieces that need to be loaded and unloaded. Inside the rotating clamp, a pressing slider that moves with the workpiece is installed. A pressure sensor detects the pressure generated by the sliding of the pressing slider. Based on the pressure feedback, the robot judges the slippage of the gripped workpiece and controls the rotating clamp and sliding seat to enhance the clamping force on the workpiece. This allows for real-time detection of abnormal workpiece gripping and effectively prevents the workpiece from falling off, ensuring the stability of loading and unloading.

[0019] 2. A laser rangefinder is installed inside the loading and unloading suction cup to detect the workpiece gripping situation. Based on the data feedback from the laser rangefinder, the sliding seat and rotating clamp are controlled to move. The positions of the sliding seat and rotating clamp are adjusted according to the workpiece gripping requirements to ensure the stability of workpiece gripping.

[0020] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0021] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the structure according to an embodiment of the present utility model; Figure 2 This is a partial structural schematic diagram according to an embodiment of the present utility model; Figure 3 This is a schematic diagram of the rotating clamping plate according to an embodiment of the present utility model; Figure 4 This is a cross-sectional structural diagram of the rotating clamping plate according to an embodiment of the present utility model; The components are: 1-robot body, 2-loading and unloading suction cups, 3-vision sensor, 4-guide bracket, 5-sliding seat, 51-pneumatic telescopic rod, 52-sliding block, 6-rotating clamping plate, 61-flipping motor, 62-clamping plate, 7-extrusion slider, 8-pressure sensor, 9-laser rangefinder sensor, 10-connecting fixing rod, 11-protective rubber pad. Detailed Implementation

[0022] The present invention will be further described below with reference to the accompanying drawings, but the scope of protection of the present invention is not limited to the following description.

[0023] like Figure 1-4As shown, an embodiment of the present invention provides a vision-guided robot automatic loading and unloading system, comprising a PLC control system for automated control and a robot body 1 controlled by the PLC control system. A loading and unloading suction cup 2 for adsorption and fixation is fixedly installed at one end of the robot body 1. A vision sensor 3 for visual guidance is provided on one side of the loading and unloading suction cup 2. A guide bracket 4 for support is provided on one side of the vision sensor 3. A sliding seat 5 for sliding adjustment is fixedly installed inside the guide bracket 4. A rotating clamping plate 6 for auxiliary clamping of the workpiece is fixedly installed inside the sliding seat 5. A pressing slider 7 that moves with the workpiece is movably connected inside the rotating clamping plate 6. A pressure sensor 8 for pressure detection is attached to one side of the pressing slider 7. A laser rangefinder 9 for real-time detection of the workpiece gripping position is fixedly installed inside the loading and unloading suction cup 2.

[0024] Preferably, in any of the above solutions, a connecting rod for mounting the guide bracket 4 is provided between the robot body 1 and the loading / unloading suction cup 2, a vacuum pump connected to the PLC control system is provided at the top of the loading / unloading suction cup 2, and the vision sensor 3 is connected to the PLC control system and fixedly installed at one end of the robot body 1.

[0025] The above technical solution is adopted: the connecting rod (made of stainless steel, which is fixed to the robot end effector and the suction cup respectively) between the robot body 1 (six-axis industrial robot) and the loading and unloading suction cup 2 has the core function of connecting and supporting the loading and unloading suction cup and the guide bracket 4. Its function is to ensure that the suction cup moves synchronously with the robot, and at the same time provide a stable installation benchmark for the guide bracket. The positioning pin on the surface of the connecting rod cooperates with the positioning hole of the guide bracket 4 to ensure the coaxiality of the bracket and the suction cup and avoid the offset of the auxiliary clamping structure.

[0026] The vacuum pump (oil-free vacuum pump, communicating with the PLC control system via RS485) at the top of the loading / unloading suction cup 2 has the core function of providing negative pressure suction force to the suction cup. Its purpose is to firmly adhere the workpiece to the bottom surface of the suction cup (the suction cup material is nitrile rubber) through negative pressure, preventing the workpiece from falling off during the gripping process. The vision sensor 3 (industrial camera, communicating with the PLC via EtherNet / IP) is fixed to the end side of the robot body 1. Its core function is to collect workpiece position and posture information (such as workpiece offset and rotation angle). Its purpose is to provide visual guidance for the robot to ensure that the suction cup is accurately aligned with the workpiece. Operation process: After the PLC control system is started, the vision sensor 3 first collects the image of the workpiece on the platform, identifies the workpiece coordinates and posture through image algorithms, and transmits the data to the PLC. The PLC drives the robot body 1 to move the suction cup directly above the workpiece based on the data. Then, the PLC controls the vacuum pump to start, extracting air from inside the suction cup to form negative pressure. When the negative pressure value reaches the threshold (feedback from the vacuum pump pressure sensor), it is confirmed that the workpiece is firmly adhered, and the robot moves the workpiece. Control principle: The PLC dynamically corrects the robot's movement path through real-time image feedback from the vision sensor, while monitoring the vacuum pump's negative pressure value. If the negative pressure is lower than the threshold (indicating an adsorption abnormality), an alarm (audio-visual prompt) is immediately triggered and the movement is paused to ensure adsorption safety.

[0027] Preferably, in any of the above solutions, the guide bracket 4 is fixedly installed on the connecting rod of the robot body 1 by bolts, and the guide bracket 4 has a groove inside to guide the sliding seat 5.

[0028] The above technical solution is adopted: the guide bracket 4 (made of aluminum alloy and fixed to the mounting flange of the connecting rod) has a groove inside to guide the sliding seat 5. Its core function is to provide linear guidance for the sliding seat 5, and its role is to ensure that the sliding seat drives the rotating clamp 6 to move along a fixed trajectory, so as to avoid damage to the workpiece due to deviation during clamping.

[0029] Limiting blocks (made of nylon) are provided at both ends of the slide to prevent the sliding seat from moving beyond its travel range and to buffer the impact force of the sliding seat. The mounting flange of the bracket cooperates with the positioning pin of the connecting rod to ensure that the axis of the slide is parallel to the central axis of the suction cup, laying the foundation for the accuracy of subsequent auxiliary clamping. During operation: when the sliding seat 5 moves along the slide, the grease on the slide wall reduces sliding friction, and the limiting blocks block and buffer when the sliding seat reaches the limit position. The control principle achieves non-powered guidance through the cooperation of the dimensional tolerance of the slide and the positioning pin, ensuring sliding accuracy without additional adjustment.

[0030] Preferably, in any of the above embodiments, the sliding seat 5 includes a pneumatic telescopic rod 51 connected to the PLC control system signal and a sliding block 52 for support. The pneumatic telescopic rod 51 is fixedly installed inside the guide bracket 4, and a sliding block 52 that moves inside the guide bracket 4 is fixedly installed at one end of the pneumatic telescopic rod 51.

[0031] The above technical solution is adopted: the pneumatic telescopic rod 51 (double-acting cylinder, connected to the PLC via a solenoid valve signal) of the sliding seat 5 is fixed to one end of the slide groove of the guide bracket 4, and the output end is connected to the sliding block 52 (aluminum alloy material, with clearance fit with the slide groove, and anodized surface treatment) through a thread. The core function is to drive the sliding block to move along the slide groove and adjust the distance between the rotating clamping plate 6 and the workpiece. Its function is to adapt to the clamping requirements of workpieces of different sizes and ensure that the clamping plate 62 can accurately fit the workpiece surface.

[0032] A groove (width adapted to the base of the flip motor 61) is provided on one side of the sliding block 52 for installing the rotating clamp 6. The positioning boss at the bottom of the groove ensures that the relative position of the rotating clamp and the sliding block is fixed. Operation process: The PLC calculates the required moving distance of the sliding block based on the workpiece size identified by the vision sensor 3, controls the pneumatic telescopic rod to extend, and after the telescopic rod pushes the sliding block to move along the slide groove to the target position, the PLC controls the solenoid valve to de-energize, and the telescopic rod maintains the current position. If adjustment is required, the PLC controls the telescopic rod to depressurize and retract, and reposition. Control principle: The PLC confirms the position of the sliding block through the magnetic ring sensor built into the cylinder, forming a closed-loop control of "size recognition - distance calculation - position feedback" to ensure adjustment accuracy.

[0033] Preferably, in any of the above embodiments, the rotating clamping plate 6 includes a flipping motor 61 connected to the PLC control system signal and a clamping plate 62 for clamping the workpiece. The flipping motor 61 is movably connected to one end of the guide bracket 4. The output end of the flipping motor 61 is fixedly installed with the clamping plate 62 that rotates inside the sliding block 52. One end of the flipping motor 61 is provided with a connecting fixing rod 10 that is fixedly installed with the sliding block 52. One end of the clamping plate 62 is provided with an anti-slip pad to prevent the workpiece from sliding.

[0034] The above technical solution is adopted: the rotating clamping plate 6's flipping motor 61 (servo motor, connected to the PLC via pulse signal) is movably connected to one end of the guide bracket 4 via the connecting fixing rod 10 (stainless steel material, welded and fixed to the sliding block 52). The output end is connected to the fixed clamping plate 62 (cold-rolled steel plate material, with anti-slip pad (silicone material) on the working surface) via a key. The core function is to drive the clamping plate to flip and fit the workpiece, providing auxiliary clamping force. Its function is to cooperate with the loading and unloading suction cups 2 to form a "adsorption + clamping" double fixation to prevent the workpiece from slipping during movement.

[0035] One end of the connecting fixing rod 10 is welded to the sliding block 52 to ensure that the relative position of the flipping motor and the sliding block is fixed, thus avoiding vibration when the motor rotates. Operation process: After the sliding seat 5 is in place, the PLC controls the flipping motor 61 to start, driving the clamping plate 62 to flip around the motor output shaft until the anti-slip pad is in contact with the side wall of the workpiece. After contact, the PLC controls the motor to maintain the current angle based on the feedback from the pressure sensor 8 (controlled by the motor torque). After the workpiece is placed in place, the motor reverses to drive the clamping plate to detach from the workpiece. Control principle: The PLC adjusts the flipping angle through the position feedback of the motor encoder, and at the same time adjusts the motor output torque according to the pressure value of the pressure sensor to avoid over-clamping causing workpiece deformation or under-clamping causing slippage.

[0036] Preferably, in any of the above solutions, the extrusion slider 7 is movably connected to the inside of the clamping plate 62, and one end of the extrusion slider 7 is provided with a protective rubber pad 11 that is fixedly installed with the clamping plate 62.

[0037] The above technical solution is adopted: the extrusion slider 7 (made of polytetrafluoroethylene, with clearance matching with the slider groove of the clamping plate 62) is movably connected inside the clamping plate, and one end is fixed with adhesive (epoxy glue) to the protective rubber pad 11 (made of polyurethane). Its core function is to move synchronously with the workpiece and trigger the pressure sensor 8 to detect. Its function is to provide real-time feedback on whether there is any abnormal slippage of the workpiece. At the same time, the protective rubber pad buffers the pressure of the slider on the workpiece and avoids scratches on the workpiece surface.

[0038] The length of the slider groove is greater than the slider stroke, ensuring that the slider has sufficient room to move. The flexible properties of the protective rubber pad can produce slight deformation when the slider comes into contact with the workpiece, increasing the contact area. This ensures that the slider can be pushed to move during sliding while avoiding damage to the workpiece. During operation: if the workpiece slips due to vibration or insufficient negative pressure, the side wall of the workpiece will push the protective rubber pad, which in turn will drive the extrusion slider to move along the slider groove. During the movement of the slider, its other end gradually squeezes the pressure sensor 8, triggering a change in the pressure signal. The control principle ensures the slider's response sensitivity to sliding through the precise cooperation between the slider and the slider groove. The protective rubber pad provides buffer protection through its flexible material, requiring no additional power.

[0039] Preferably, of any of the above solutions, the pressure sensor 8 is fixedly installed inside the clamping plate 62, and the laser rangefinder 9 is fixedly installed inside the loading and unloading suction cup 2.

[0040] The above technical solution is adopted: the pressure sensor 8 (strain gauge pressure sensor, fixed to the sensor groove of the clamping plate 62 by countersunk screws) has the core function of detecting the extrusion pressure of the extrusion slider 7. Its function is to determine whether the workpiece has slipped. When the workpiece is clamped normally, the slider does not move and the sensor pressure is stable at the initial value. When the workpiece slips and pushes the slider to squeeze the sensor, the pressure value exceeds the preset threshold, and the sensor immediately sends an abnormal signal to the PLC. If the pressure value drops sharply (it is determined that the workpiece has fallen off), an abnormal alarm is also triggered.

[0041] The laser rangefinder 9 (triangular reflective type, embedded in the center hole of the loading / unloading suction cup 2) has the core function of detecting the distance between the bottom surface of the suction cup and the surface of the workpiece in real time. Its role is to confirm whether the workpiece is accurately gripped: before gripping, the sensor measures the distance, and the PLC controls the robot's descent height based on the data. After gripping, the sensor measures a distance of 0 (the suction cup is in contact with the workpiece), confirming successful adsorption. If the distance after gripping is still greater than the threshold (it is determined that the workpiece has not been gripped), the PLC immediately controls the robot to stop moving and alarms. During operation: both the pressure sensor 8 and the laser rangefinder 9 transmit data to the PLC in real time. The PLC compares the pressure value with the preset threshold and the distance value with the standard contact distance. If any parameter is abnormal, it immediately executes protective actions (such as stopping the robot's movement, increasing the negative pressure of the vacuum pump, and increasing the clamping force of the clamping plate). The control principle forms a dual guarantee of "adsorption detection + clamping detection" through closed-loop feedback of dual sensors. The abnormal handling response time is ≤0.1s, ensuring that no workpiece falls off during the loading / unloading process.

[0042] The working principle of this utility model is as follows: (This is a vision-guided robot automatic loading and unloading system.) After the PLC control system is started, the vision sensor 3 fixed to the end of the robot body 1 first collects the image of the workpiece on the material table. The image algorithm identifies the workpiece coordinates and posture and transmits them to the PLC. The PLC drives the robot body 1 to move the loading and unloading suction cup 2 to directly above the workpiece. At the same time, the vacuum pump at the top of the suction cup is started to extract the internal air and form a negative pressure. The laser range sensor 9 inside the loading and unloading suction cup 2 detects the distance between the suction cup and the workpiece in real time. When the distance drops to the contact value and the vacuum pump negative pressure reaches the threshold, it is confirmed that the workpiece is firmly adsorbed. The robot starts to move the workpiece. During the movement, the guide bracket 4 fixed to the connecting rod between the robot body 1 and the suction cup provides stable guidance for the sliding seat 5. According to the workpiece size identified by the vision sensor 3, the PLC controls the pneumatic telescopic rod 51 of the sliding seat 5 to push the sliding block 52 to move along the bracket slide groove and adjust the rotating clamp 6 to the appropriate position. Subsequently, the rotating clamping plate 6's flipping motor 61 drives the clamping plate 62 to flip, so that the anti-slip pad on the clamping plate adheres to the side wall of the workpiece, forming a "adsorption + clamping" double fixation. The extrusion slider 7 inside the clamping plate moves slightly as the workpiece adheres, and the pressure sensor 8 on one side monitors the pressure value. If the workpiece slides and pushes the extrusion slider 7 to make the pressure exceed the threshold, or if the laser range sensor 9 detects an abnormal distance, the PLC immediately adjusts the clamping force of the clamping plate or stops the movement. After the workpiece is transported to the target position, the vacuum pump depressurizes, and the flipping motor 61 drives the clamping plate 62 to reset, completing the loading and unloading.

[0043] Compared with the prior art, the present invention has the following advantages: 1. An auxiliary gripping structure is added to one end of the vision-guided robot that grips the workpiece, forming a guide bracket 4, a sliding seat 5, and a rotating clamping plate 6. This auxiliary gripping structure assists the loading and unloading suction cup 2 in clamping the workpiece that needs to be loaded and unloaded. Inside the rotating clamping plate 6, a pressing slider 7 is set that moves with the workpiece. A pressure sensor 8 is used to detect the pressure generated by the sliding of the pressing slider 7. Based on the pressure feedback, the robot judges the slippage of the gripped workpiece and controls the rotating clamping plate 6 and the sliding seat 5 to enhance the clamping force on the workpiece. This can detect abnormalities in workpiece gripping in real time and effectively prevent the workpiece from falling off, ensuring the stability of loading and unloading.

[0044] 2. A laser rangefinder 9 is installed inside the loading and unloading suction cup 2 to detect the workpiece gripping situation. Based on the data feedback from the laser rangefinder 9, the sliding seat 5 and the rotating clamp 6 are controlled to move. The positions of the sliding seat 5 and the rotating clamp 6 are adjusted according to the workpiece gripping requirements to ensure the stability of workpiece gripping.

Claims

1. A vision-guided robot automatic loading and unloading system, comprising a PLC control system for automated control and a robot body (1) controlled by the PLC control system, wherein a loading and unloading suction cup (2) for adsorption and fixation is fixedly installed at one end of the robot body (1), and a vision sensor (3) for visual guidance is provided on one side of the loading and unloading suction cup (2), characterized in that: A guide bracket (4) is provided on one side of the vision sensor (3) for support. A sliding seat (5) for sliding adjustment is fixedly installed inside the guide bracket (4). A rotating clamp (6) for auxiliary clamping of the workpiece is fixedly installed inside the sliding seat (5). A pressing slider (7) that moves with the workpiece is movably connected inside the rotating clamp (6). A pressure sensor (8) for pressure detection is attached to one side of the pressing slider (7). A laser rangefinder (9) for real-time detection of the workpiece gripping position is fixedly installed inside the loading and unloading suction cup (2).

2. The vision-guided robot automatic loading and unloading system as described in claim 1, characterized in that: A connecting rod for mounting the guide bracket (4) is provided between the robot body (1) and the loading / unloading suction cup (2). A vacuum pump connected to the PLC control system is provided at the top of the loading / unloading suction cup (2). The vision sensor (3) is connected to the PLC control system and fixedly installed at one end of the robot body (1).

3. The vision-guided robot automatic loading and unloading system as described in claim 2, characterized in that: The guide bracket (4) is fixedly installed on the connecting rod of the robot body (1) by bolts, and the guide bracket (4) has a groove inside to guide the sliding seat (5).

4. The vision-guided robot automatic loading and unloading system as described in claim 3, characterized in that: The sliding seat (5) includes a pneumatic telescopic rod (51) connected to the PLC control system signal and a sliding block (52) for support. The pneumatic telescopic rod (51) is fixedly installed inside the guide bracket (4), and a sliding block (52) that moves inside the guide bracket (4) is fixedly installed at one end of the pneumatic telescopic rod (51).

5. The vision-guided robot automatic loading and unloading system as described in claim 4, characterized in that: The rotating clamp (6) includes a flip motor (61) connected to the PLC control system signal and a clamping plate (62) for clamping the workpiece. The flip motor (61) is movably connected to one end of the guide bracket (4). The output end of the flip motor (61) is fixedly installed with the clamping plate (62) that rotates inside the sliding block (52). One end of the flip motor (61) is provided with a connecting rod (10) that is fixedly installed with the sliding block (52). One end of the clamping plate (62) is provided with an anti-slip pad to prevent the workpiece from sliding.

6. The vision-guided robot automatic loading and unloading system as described in claim 5, characterized in that: The extrusion slider (7) is movably connected to the inside of the clamping plate (62), and one end of the extrusion slider (7) is provided with a protective rubber pad (11) that is fixedly installed with the clamping plate (62).

7. The vision-guided robot automatic loading and unloading system as described in claim 6, characterized in that: The pressure sensor (8) is fixedly installed inside the clamping plate (62), and the laser rangefinder (9) is fixedly installed inside the loading and unloading suction cup (2).

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