Visual guidance device

Abstract

The application relates to the technical field of automation equipment, in particular to a visual guiding device, which comprises a fixed frame body, a connecting mechanism movably arranged on the fixed frame body, the connecting mechanism being provided with a lifting structure, an identification device arranged on the connecting mechanism, and a material transfer component connected with the connecting mechanism or the identification device. The visual guiding device can adjust the position of the identification device in different dimensions, optimizes the fixed visual field of the identification device into a mobile visual field, expands the visual field range of the identification device, and reduces the uncertainty of the identification device in the positioning and subsequent grabbing process in different dimensional motion strokes, so that the guiding precision of the material taking and grabbing and assembling process is improved.

Description

Technical Field

[0001] This application relates to the field of automation equipment technology, and in particular to a visual guidance device. Background Technology

[0002] Early industrial vision systems primarily relied on 2D images, characterized by their simple structure, low cost, and good stability, making them suitable for recognizing and locating planar and regular objects. However, they lacked flexibility, being only applicable to fixed scenarios. When faced with objects of varying heights, stacked objects, or irregular shapes, 2D information could not provide sufficient depth perception, leading to material grasping failures or assembly errors. Utility Model Content

[0003] The purpose of this application is to provide a visual guidance device to solve, to a certain extent, the technical problems existing in the prior art, such as limited positioning accuracy of existing industrial vision systems, which easily lead to grasping failure and assembly errors during the material grasping and assembly process.

[0004] This application provides a visual guidance device, including: a fixed frame; A connecting mechanism is movably mounted on the fixed frame; the connecting mechanism has a lifting structure. An identification device is disposed on the connecting mechanism; A material transfer component, which is connected to the connecting mechanism or the identification device. In the above technical solution, the connecting mechanism further includes: A connecting plate is slidably connected to the fixed frame, and the connecting plate is capable of reciprocating linear motion along the length direction of the fixed frame; A lifting drive device is disposed on the connecting plate; A lifting assembly, which is connected to the lifting drive device; A connecting column is provided, which is connected to the lifting assembly. In any of the above technical solutions, the lifting assembly further includes: A lifting plate is provided below the connecting plate; the lifting drive device is connected to the lifting plate. A sleeve, wherein the sleeve is disposed on the connecting plate; A guide rod, which passes through the sleeve and is connected to the lifting plate; The number of lifting components is at least two sets.

[0005] In any of the above technical solutions, the lifting assembly further includes: The connecting rod has two sleeves, each sleeve is provided with a guide rod, and the connecting rod is connected to the end of each guide rod away from the lifting plate. A limiting block is disposed on the connecting rod and faces the connecting plate.

[0006] In any of the above technical solutions, the identification device further includes at least: A connecting frame, which is connected to the connecting column; The camera, the number of which is at least one, is arranged at intervals on the connecting frame.

[0007] In any of the above technical solutions, the visual guidance device further includes a driving component, the driving component comprising: A driving component, wherein the driving component is disposed on the connecting plate; A drive gear, which is disposed in the connecting mechanism and connected to the drive component; A transmission rack is disposed on the fixed frame, and the drive gear is connected to the transmission rack.

[0008] In any of the above technical solutions, the fixing frame further includes: First pillar; The second column is provided, with the first column and the second column spaced apart; the first column and the second column are each provided with a fixed base; A support frame, one end of which is connected to the first column and the other end of which is connected to the second column; the connecting mechanism is slidably connected to the support frame.

[0009] In any of the above technical solutions, the first column and / or the second column are further provided with a wire groove, and the wire groove is provided with a detachable cover plate.

[0010] In any of the above technical solutions, the first column and / or the second column are further provided with a hanging member, and the hanging member is provided with a plug-in rod.

[0011] In any of the above technical solutions, the material transfer component further includes: A connector, one end of which is connected to the connecting frame or the connecting mechanism; A pickup head is connected to one end of the connector that is away from the connecting frame or the connecting mechanism. Compared with the prior art, the beneficial effects of this application are as follows: The visual guidance device provided in this application includes: a fixed frame; a connecting mechanism movably disposed on the fixed frame; the connecting mechanism having a lifting structure; an identification device disposed on the connecting mechanism; and a material transfer component connected to the connecting mechanism or the identification device. The visual guidance device provided in this application can adjust the position of the recognition device in different dimensions, optimize the fixed field of view of the recognition device into a moving field of view, expand the field of view range of the recognition device, and incorporate the uncertainty of the recognition device in the positioning of materials and subsequent grasping process into the movement stroke in different dimensions, thereby improving the guidance accuracy of material grasping and assembly process, and thus effectively improving the accuracy of material transfer, reducing material grasping failure or assembly error. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0013] Figure 1 This is a schematic diagram of the structure of the visual guidance device provided in the embodiments of this application; Figure 2 A schematic diagram of the structure of the fixing frame of the visual guidance device provided in the embodiments of this application; Figure 3 This is a partial structural schematic diagram of the visual guidance device provided in the embodiments of this application; Figure 4 This is a schematic diagram of another part of the structure of the visual guidance device provided in the embodiments of this application.

[0014] Figure label: 1-First column, 2-Second column, 3-Support frame, 4-Fixed foot, 5-Hanging piece, 6-Plug-in rod, 7-Cover plate, 8-Connecting plate, 9-Lifting drive device, 10-Lifting plate, 11-Sleeve, 12-Guide rod, 13-Connecting rod, 14-Limiting block, 15-Connecting column, 16-Connecting frame, 17-Camera, 18-Connector, 19-Driver, 20-Drive gear, 21-Drag chain, 22-Slide rail. Detailed Implementation

[0015] The technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this application, but not all embodiments.

[0016] The components of the embodiments of this application described and shown in the accompanying drawings can be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of this application provided in the drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application.

[0017] Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this application.

[0018] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0019] In the description of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0020] The following reference Figures 1 to 4 The visual guidance device described in the embodiments of this application.

[0021] See Figures 1 to 4 As shown, an embodiment of this application provides a visual guidance device, which includes: a fixed frame, a connecting mechanism, an identification device, and a material transfer component. The connecting mechanism is movably disposed on the fixed frame, and the identification device is disposed on the connecting mechanism. The identification device can move synchronously with the connecting mechanism and is used to identify the location of the material. The material transfer component is connected to the connecting mechanism or the identification device to pick up the material. After picking up the material, the material transfer component moves relative to the fixed frame, thereby transferring the item. Specifically, the fixed frame includes a first column 1, a second column 2, and a support frame 3. The first column 1 and the second column 2 are spaced apart. One end of the support frame 3 is connected to the upper end of the first column 1, and the other end of the support frame 3 is connected to the upper end of the second column 2. Optionally, a slide rail 22 is provided on the lower surface of the support frame 3, and the connecting mechanism is slidably connected to the slide rail 22.

[0022] Optionally, the bottom ends of the first column 1 and the second column 2 are respectively provided with fixing feet 4, and the fixing feet 4 are fixed to the designated installation position by multiple bolts.

[0023] A hook 5 is provided on the side surface of the second column 2 facing the first column 1. The hook 5 is detachably provided on the second column 2 so as to adjust the setting of the hook 5 relative to the second column 2. The hook 5 is provided with a connecting rod 6. The material is provided with a connecting hole that can be adapted to the shape and number of the connecting rod 6, so that when the material transfer component picks up the material and transfers the material to the second column 2, the material can be inserted into the connecting rod 6 to fix the material in the current position. When picking up the material again and transferring the second-picked material to the second column 2, the second-transfer material can be stacked on top of the material that is inserted into the connecting rod 6.

[0024] It should be noted that the items that are plugged into the connector 6 can be the bottom layer of material as described above, or they can be a separately set carrier plate or clamp that can be adapted to be plugged into the connector 6.

[0025] Optionally, the first column 1 and / or the second column 2 are provided with a wire groove inside, the wire groove extending along the length of the first column 1 or the length of the second column 2, preferably, the wire groove is provided with a cover plate 7.

[0026] Furthermore, the connecting mechanism includes a connecting plate 8, which is slidably connected to a slide rail 22 on the lower surface of the support frame 3.

[0027] The connecting mechanism also includes a lifting assembly and a lifting drive device 9. Specifically, the lifting drive device 9 can be a cylinder. The lifting assembly includes a lifting plate 10, a sleeve 11, and a guide rod 12. The sleeve 11 is located on the upper surface of the connecting plate 8, is hollow inside, and has openings at both ends. The guide rod 12 passes through the sleeve 11, and the axial direction of the guide rod 12 and the sleeve 11 extends vertically. The lifting plate 10 is located below the connecting plate 8, and the bottom end of the guide rod 12 passes through the sleeve 11 and connects to the lifting plate 10. The connecting plate 8 has a hole, and the fixed part of the lifting drive device 9 is located on the connecting plate 8. The cylinder rod of the lifting drive device 9 passes through the hole in the connecting plate 8 and connects to the lifting plate 10. Preferably, the lifting drive device 9 is connected to the center of the lifting plate 10.

[0028] Optionally, the lifting assembly includes two sleeves 11 and two guide rods 12. The two sleeves 11 are spaced apart, and a guide rod 12 is inserted into each sleeve 11. The upper end of the guide rod 12 passes through the upper end of the sleeve 11.

[0029] The lifting assembly also includes a connecting rod 13, one end of which is connected to the upper end of a guide rod 12, and the other end of which is connected to the upper end of another guide rod 12, thereby ensuring the synchronicity of the lifting process of the two guide rods 12. Optionally, a limit block 14 is provided on the upper surface of the connecting rod 13, that is, the side facing the connecting plate 8, to prevent the lifting assembly from rising excessively and colliding with the connecting plate 8 during the lifting process.

[0030] Preferably, there are two sets of lifting components, which are distributed on both sides of the lifting drive device 9. More preferably, a total of four guide rods 12 are connected to the lifting plate 10 near the four top corners.

[0031] Furthermore, the connecting mechanism also includes connecting columns 15. Preferably, there are at least two connecting columns 15, all of which are spaced apart. The upper end of each connecting column 15 is connected to the lower surface of the lifting plate 10, and the lower end of each connecting column 15 is connected to the identification device, so that the identification device can rise or fall with the lifting assembly.

[0032] Furthermore, the recognition device is specifically a 3D vision camera commonly used in the prior art. The recognition device includes a main unit, a connecting frame 16, and a camera 17, wherein the connecting frame 16 is connected to the connecting column 15, and the main unit and the camera 17 are respectively disposed on the connecting frame 16. Preferably, there are multiple cameras 17, which are arranged at intervals.

[0033] Furthermore, the material transfer component includes a connector 18 and a pickup head. The connector 18 is specifically a rod or a rope. One end of the connector 18 is connected to the connecting frame 16, and the other end of the connector 18 is connected to the pickup head. The pickup head can specifically be a gripper. It should be noted that the gripper is equipped with a drive element 19 for driving it to open or close. This process is a mature existing technology, which can be fully understood by those skilled in the art, and will not be described in detail here.

[0034] Preferably, the connector 18 is connected to the center of the connector frame 16, and each camera 17 is distributed around the upper end of the connector 18.

[0035] This visual guidance device also includes a drive assembly for driving the connecting mechanism to reciprocate linearly relative to the support frame 3 along the length of the support frame 3. The drive assembly includes a drive element 19, a drive gear 20, and a transmission rack. Specifically, the drive element 19 can be a motor, and the drive element 19 has a cable chain 21 for power supply and signal transmission. The drive element 19 passes through the connecting plate 8 and the lifting plate 10. Optionally, the main body of the drive element 19 is connected to the connecting plate 8, the drive gear 20 is connected to the output shaft of the drive element 19, and the drive gear 20 is located on the upper surface of the connecting plate 8. The transmission rack is located on the lower surface of the support frame 3, and the drive gear 20 is connected to the transmission rack. When the drive element 19 is started, the drive gear 20 rotates, and its rotational motion can be converted into linear motion with the transmission rack, thereby realizing the linear reciprocating motion of the connecting mechanism on the support frame 3. Preferably, the output shaft of the drive element 19 is equipped with a reducer.

[0036] In its initial state, this visual guidance device is positioned above a designated workstation below support frame 3. When a material-filled bin is delivered to the designated workstation, the recognition device takes a positioning photo of the material to obtain its three-dimensional coordinates, posture, and stacking status. The recognition device calculates the material's position and orientation based on the photo and transmits the results to the material transfer component as a reference for the component during workpiece pickup. The recognition device can adjust its posture and shooting angle in two dimensions: moving on and lifting on support frame 3. This optimizes the shooting field of view into a variable moving field of view, thereby improving the positioning accuracy of the bin and material, and thus improving the accuracy of the material pickup process. After picking up the material, it is transferred to another designated workstation below support frame 3. Optionally, this designated workstation is equipped with a fixture for carrying the material. This process is repeated to complete the stacking of the material, thus realizing the process of material stacking from disordered stacking in the bin to ordered stacking in the fixture.

[0037] It should be noted that this application is for guiding the movement process of the material transfer component. The grasping of materials and the linkage between the 3D vision camera and the grasping mechanism are conventional technologies in the field and are not included as the prominent protection content of this application. Those skilled in the art can fully understand this, and it will not be elaborated on here.

[0038] In summary, the visual guidance device provided in this application can adjust the position of the recognition device in different dimensions, optimize the fixed field of view of the recognition device into a moving field of view, expand the field of view range of the recognition device, and incorporate the uncertainty of the recognition device in the positioning of materials and subsequent grasping process into the movement stroke in different dimensions, thereby improving the guidance accuracy of material grasping and assembly process, and thus effectively improving the accuracy of material transfer, reducing material grasping failure or assembly errors.

[0039] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A visual guidance device, characterized in that, include: Fixed frame; A connecting mechanism, which is movably disposed on the fixed frame; The connecting mechanism has a lifting structure; An identification device is disposed on the connecting mechanism; A material transfer component, which is connected to the connecting mechanism or the identification device.

2. The visual guidance device according to claim 1, characterized in that, The connecting mechanism includes: A connecting plate is slidably connected to the fixed frame, and the connecting plate is capable of reciprocating linear motion along the length direction of the fixed frame; A lifting drive device is disposed on the connecting plate; A lifting assembly, which is connected to the lifting drive device; A connecting column is provided, which is connected to the lifting assembly.

3. The visual guidance device according to claim 2, characterized in that, The lifting assembly includes: A lifting plate is provided below the connecting plate; the lifting drive device is connected to the lifting plate. A sleeve, wherein the sleeve is disposed on the connecting plate; A guide rod, which passes through the sleeve and is connected to the lifting plate; The number of lifting components is at least two sets.

4. The visual guidance device according to claim 3, characterized in that, The lifting assembly also includes: The connecting rod has two sleeves, each sleeve is provided with a guide rod, and the connecting rod is connected to the end of each guide rod away from the lifting plate. A limiting block is disposed on the connecting rod and faces the connecting plate.

5. The visual guidance device according to claim 2, characterized in that, The identification device includes at least: A connecting frame, which is connected to the connecting column; The camera, the number of which is at least one, is arranged at intervals on the connecting frame.

6. The visual guidance device according to claim 2, characterized in that, The visual guidance device further includes a driving component, which comprises: A driving component, wherein the driving component is disposed on the connecting plate; A drive gear, which is disposed in the connecting mechanism and connected to the drive component; A transmission rack is disposed on the fixed frame, and the drive gear is connected to the transmission rack.

7. The visual guidance device according to any one of claims 1 to 6, characterized in that, The fixed frame includes: First pillar; The second column is provided, with the first column and the second column spaced apart; the first column and the second column are each provided with a fixed base; A support frame, one end of which is connected to the first column and the other end of which is connected to the second column; the connecting mechanism is slidably connected to the support frame.

8. The visual guidance device according to claim 7, characterized in that, The first column and / or the second column are provided with wire grooves, and the wire grooves are provided with removable covers.

9. The visual guidance device according to claim 7, characterized in that, The first column and / or the second column are provided with a mounting bracket, and the mounting bracket is provided with a plug-in rod.

10. The visual guidance device according to claim 5, characterized in that, The material transfer component includes: A connector, one end of which is connected to the connecting frame or the connecting mechanism; A pickup head is connected to one end of the connector that is away from the connecting frame or the connecting mechanism.

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