A 3D visual recognition and grabbing system for a vehicle door hinge

Abstract

The utility model relates to the technical field of automation control, and mainly relates to a 3D vision identification grabbing system of door hinge, including material frame, vision identification system, first grabbing mechanism, positioning mechanism and second grabbing mechanism, material frame is used for depositing the door hinge of waiting for grabbing, and the door hinge includes the extension of the extension part that the body extends outward from the body, and the positioning hole is set up on the body, and the vision identification system is across the top of material frame, and the vision identification system carries out identification analysis to the door hinge, and the first grabbing mechanism is equipped with the second grabbing mechanism side by side below the vision identification system, and the positioning mechanism is located between the first grabbing mechanism and the second grabbing mechanism, and the grabbing section of first grabbing mechanism is equipped with parallel type clamp claw, and the parallel type clamp claw receives the output instruction of vision identification system, and the door hinge in the material frame is grabbed, and the grabbing end of the second grabbing mechanism is equipped with latch type clamp claw, and the latch type clamp claw is used for grabbing the door hinge on the positioning mechanism, and effectively improves the equipment grabbing efficiency.

Description

Technical Field

[0001] This utility model relates to the field of automation control technology, and mainly to a 3D vision recognition and grasping system for car door hinges. Background Technology

[0002] In modern manufacturing, production efficiency and flexibility are crucial goals for enterprises. On traditional production lines, the gripping and handling of door hinges typically relies on manual labor or pre-programmed robots. Manual operation is inefficient, labor-intensive, and prone to errors and inconsistent quality. Pre-programmed robots require precise positioning of the items to be sorted, limiting their ability to handle simple sorting tasks and failing to adapt to the disordered placement of door hinges in actual production. Therefore, a device capable of automatically identifying and gripping disordered door hinges is needed to improve production efficiency and quality while reducing labor costs. With increasing market demand, enterprises need to enhance door hinge production efficiency to meet order delivery requirements. Traditional gripping methods cannot meet the demands of rapid, continuous gripping; therefore, a highly efficient disordered gripping device is needed to complete the gripping and handling of large quantities of door hinges in a short time.

[0003] Therefore, utility model patent application number CN202021357754.X discloses an automatic detection and feeding mechanism for door hinges, including a conveying base; two feeding tracks are arranged side by side on the conveying base; a visual guidance camera and a six-axis robot are provided at the discharge end of the feeding tracks; and a contoured door panel and a feeding guide groove are respectively provided at the inlet end of the two feeding tracks. This utility model prevents material mixing through a square door panel design, and uses a visual guidance camera to identify the position and features of the product, feeding back the coordinate position of the corresponding product to the six-axis robot. The six-axis robot then grabs the product according to the coordinate information fed back by the visual guidance camera and feeds it into the fixture of the assembly tooling, thereby reducing human fatigue and the problems of manual identification of product orientation and material mixing.

[0004] However, the applicant found that the above technology still has shortcomings: 1. It is difficult to adapt to the clamping of various types and specifications of door hinges, and it cannot stably grip some door hinges with special shapes.

[0005] Therefore, there is an urgent need for a 3D vision recognition and grasping system for car door hinges with high positioning control accuracy and high grasping efficiency. Utility Model Content

[0006] To address the above issues, a 3D vision recognition and grasping system for car door hinges was developed, featuring high positioning control accuracy and high grasping efficiency. Through the coordinated operation of the vision recognition system for precise positioning, the grasping execution mechanism for efficient grasping, and the positioning mechanism for automated transport, the grasping efficiency is effectively improved while reducing labor costs.

[0007] To achieve the above objectives, this utility model provides the following technical solution: A 3D vision recognition and grasping system for car door hinges includes: Material frame, vision recognition system, first gripping mechanism, positioning mechanism and second gripping mechanism; The material frame is used to store the door hinge to be grabbed. The door hinge includes a body and an extension extending outward from the body. The body has a positioning hole. The visual recognition system is positioned across the top of the material frame. This visual recognition system is used to identify and analyze the door hinge. A first gripping mechanism is positioned below the visual recognition system, and a second gripping mechanism is positioned side by side with the first gripping mechanism. The positioning mechanism is located between the first grasping mechanism and the second grasping mechanism; The first gripping mechanism has a gripping section equipped with parallel grippers, which receive output instructions from the vision recognition system to grip the door hinge in the material frame. The second gripping mechanism has a gripping end equipped with a pin-type gripper, which is used to grip the door hinge on the positioning mechanism.

[0008] As an improvement, the side of the material frame is provided with several limiting plates, which are used to prevent the material frame from moving arbitrarily.

[0009] As an improvement, the visual recognition system includes an industrial camera, a light source module, and an image processor. The industrial camera and the light source module are both installed directly above the material frame. The industrial camera is used to collect image information of the door hinge within the material frame. The light source module is used to provide stable lighting settings for the images collected by the industrial camera. The image processor is electrically connected to the industrial camera and is used to receive the image information collected by the industrial camera.

[0010] As an improvement, the parallel gripper is a symmetrical pneumatic finger gripper. The inner side end of the pneumatic finger gripper is provided with several teeth, and the pneumatic finger gripper is driven by a gripper cylinder.

[0011] As an improvement, the positioning mechanism includes a horizontally arranged material carrier with a V-shaped positioning groove. A lifting device is provided at the input end of the positioning groove, and a pushing device is provided on the other side of the lifting device to push the material carrier horizontally.

[0012] As an improvement, the pushing device includes a pushing cylinder, on the output shaft of which is a pushing plate that pushes the door hinge at the lifting device to move horizontally.

[0013] As an improvement, the lifting device includes a lifting cylinder, on the output shaft of which is provided a lifting plate that lifts the door hinge vertically, and the lifting plate receives the door hinge released by the first gripping mechanism.

[0014] As an improvement, the positioning mechanism is arranged in two sets symmetrically horizontally, and the positioning mechanism of the two sets is used to support the symmetrically arranged door hinges.

[0015] As an improvement, the pin-type gripper includes a pin and a gripper. The pin and the gripper are arranged parallel to each other. The shape of the pin is adapted to the positioning hole. The gripper is a symmetrical pneumatic finger gripper that grips the extension. The inner end of the gripper's gripping finger is provided with several teeth.

[0016] As an improvement, two sets of pins are arranged in parallel, and the gripper is provided at the middle position of the two sets of pins. The pin-type gripper synchronously grips the symmetrically arranged door hinges.

[0017] The beneficial effects of this utility model are as follows: (1) The visual recognition system provided in this utility model can accurately identify the position, posture and shape of the door hinge. No matter how disorderly the door hinge is placed in the material frame, the system can quickly locate its precise position and guide the gripping device to grip accurately, which greatly improves the success rate and accuracy of gripping, reduces damage or gripping failure caused by inaccurate gripping position, and improves work efficiency. (2) The first gripping mechanism provided in this utility model can increase the friction between the gripper and the door hinge by the pneumatic finger gripper and the teeth at the end of the parallel gripper, so that the gripper can grip the door hinge more firmly. Even if vibration, shaking or other external interference occurs during the gripping process, the door hinge is not easy to slip off the gripper, thereby ensuring the stability of the gripping and improving the gripping success rate. (3) The second gripping mechanism provided in this utility model can precisely cooperate with a specific part of the door hinge through the pin-type gripper at the end. The gripping is achieved by the corresponding insertion of the pin on the pin-type gripper and the gripper into the positioning hole and the gripping extension. This can ensure the accuracy of the gripping position and firmly clamp the door hinge from multiple directions. It can achieve flexible gripping of door hinges at different angles and improve the working efficiency of the gripping equipment. (4) The two sets of positioning mechanisms provided in this utility model can automatically and orderly transfer the door hinge from one position to the designated position for the next process operation. There is no need for manual handling and sorting, which greatly improves production efficiency, reduces labor costs, and reduces the errors and uncertainties that may be caused by manual operation. At the same time, it can be placed according to different directions, which improves the equipment's gripping efficiency. Through the close cooperation of this positioning mechanism with other equipment, the entire production process becomes smoother.

[0018] In summary, the door hinge disorder gripping device of this invention is more stable and accurate, effectively improving production efficiency, reducing labor costs, and enhancing gripping flexibility. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the overall three-dimensional structure of the present invention. Figure 2 ; Figure 3 This is a schematic diagram of the visual recognition system structure of this utility model; Figure 4 This is a schematic diagram of the parallel gripper structure of this utility model; Figure 5 This is a schematic diagram of the positioning mechanism of this utility model; Figure 6 This is a schematic diagram of the material carrier structure of this utility model; Figure 7 This is a schematic diagram of the pushing device structure of this utility model; Figure 8 This is a schematic diagram of the lifting device structure of this utility model; Figure 9 This is a schematic diagram of the pin-type gripper structure of this utility model. Figure 1 ; Figure 10 This is a schematic diagram of the pin-type gripper structure of this utility model. Figure 2 ; Figure 11 This is a schematic diagram of the door hinge structure of this utility model.

[0020] In the diagram: 1. Material frame, 10. Door hinge, 101. Body, 102. Extension, 103. Positioning hole, 11. Limiting plate, 2. Vision recognition system, 21. Industrial camera, 22. Light source module, 23. Image processor, 3. First gripping mechanism, 31. Parallel gripper, 311. Pneumatic finger gripper, 312. Teeth, 313. Gripper cylinder, 4. Positioning mechanism, 41. Pushing device, 411. Pushing cylinder, 412. Pushing plate, 42. Lifting device, 421. Lifting cylinder, 422. Lifting plate, 43. Material carrier, 431. Positioning groove, 5. Second gripping mechanism, 51. Pin-type gripper, 511. Pin, 512. Gripper, 5121. Gripper finger. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", 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 component 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.

[0023] 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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0024] Example 1: like Figures 1 to 11 As shown, a 3D vision recognition and grasping system for car door hinges includes: 1. Material frame; 2. Vision recognition system; 3. First gripping mechanism; 4. Positioning mechanism; and 5. Second gripping mechanism; The material frame 1 is used to store the door hinge 10 to be grabbed. The door hinge 10 includes a body 101 and an extension 102 extending outward from the body 101. The body 101 is provided with a positioning hole 103. The visual recognition system 2 is arranged across the top of the material frame 1. The visual recognition system 2 is used to identify and analyze the door hinge 10. A first gripping mechanism 3 is arranged below the visual recognition system 2, and a second gripping mechanism 5 is arranged side by side with the first gripping mechanism 3. The positioning mechanism 4 is located between the first gripping mechanism 3 and the second gripping mechanism 5; The first gripping mechanism 3 is provided with a parallel gripper 31 in its gripping section. The parallel gripper 31 receives the output command of the vision recognition system 2 and grips the door hinge 10 in the material frame 1. The second gripping mechanism 5 is provided with a pin-type gripper 51 in its gripping end. The pin-type gripper 51 is used to grip the door hinge 10 on the positioning mechanism 4.

[0025] The material frame 1 is provided with several limiting plates 11 on its side, which are used to prevent the material frame 1 from moving arbitrarily.

[0026] The visual recognition system 2 includes an industrial camera 21, a light source module 22, and an image processor 23. The industrial camera 21 and the light source module 22 are both installed directly above the material frame 1. The industrial camera 21 is used to collect image information of the door hinge 10 inside the material frame 1. The light source module 22 is used to provide stable lighting settings for the images collected by the industrial camera 21. The image processor 23 is electrically connected to the industrial camera 21 and is used to receive the image information collected by the industrial camera 21.

[0027] It should be noted that the industrial camera 21, light source module 22, and image processor 23 are structured as follows: The industrial camera 21 is a high-resolution, high-frame-rate industrial-grade camera, capable of capturing subtle features of the door hinge 10 in a short time. Even in complex lighting environments, it ensures the clarity and accuracy of the acquired images, providing a reliable data foundation for subsequent image analysis. The light source module 22 is equipped with various types of light sources, which can be flexibly adjusted according to the material and surface reflectivity of the door hinge 10. Brightness and angle are adjusted to effectively eliminate shadows and reflection interference, ensuring that the image information acquired by the industrial camera 21 is complete and clear. The image processor 23 can not only quickly identify the position and orientation of the door hinge 10, but also perform preliminary quality checks on the door hinge 10, realizing integrated gripping and quality inspection settings, improving production efficiency and product quality.

[0028] The parallel gripper 31 is a symmetrical pneumatic finger gripper 311. The inner side end of the pneumatic finger gripper 311 is provided with a number of teeth 312, and the pneumatic finger gripper 311 is driven by the gripper cylinder 313.

[0029] It should be noted that the symmetrical clamping wall design of the parallel gripper 31, combined with the tooth structure, has excellent gripping stability and adaptability. Whether it is a door hinge 10 of different sizes or in different postures, reliable gripping can be achieved by adjusting the clamping force of the gripper, thus avoiding the phenomenon of falling off during gripping and transportation.

[0030] The positioning mechanism 4 includes a horizontally arranged material carrier 43, on which a V-shaped positioning groove 431 is provided. A lifting device 42 is provided at the input end of the positioning groove 431, and a pushing device 41 is provided on the other side of the lifting device 42 to push horizontally toward the material carrier 43.

[0031] The pushing device 41 includes a pushing cylinder 411, and a pushing plate 412 is provided on the output shaft of the pushing cylinder 411 to push the door hinge 10 at the lifting device 42 to move horizontally.

[0032] The lifting device 42 includes a lifting cylinder 421, and a lifting plate 422 is provided on the output shaft of the lifting cylinder 421 to lift the door hinge 10 in the vertical direction. The lifting plate 422 receives the door hinge 10 released by the first gripping mechanism 3.

[0033] The positioning mechanism 4 is arranged in two sets symmetrically horizontally, and the two sets of positioning mechanisms 4 are respectively used to support the symmetrically arranged door hinges 10.

[0034] It should be noted that the structures of the pushing device 41, the lifting device 42, and the material carrier 43 are described. Pushing device 41: The combination of pushing cylinder 411 and pushing plate 412 has the characteristics of fast response speed and stable pushing force. By precisely controlling the stroke and speed of pushing cylinder 411, it can ensure that the door hinge 10 is accurately and smoothly delivered to the lifting device 42.

[0035] Lifting device 42: The lifting cylinder 421 and the lifting plate 422 work together to achieve precise positioning of the door hinge 10 in the vertical direction. By setting a reasonable lifting speed, the door hinge 10 is kept stable during the lifting process. After the door hinge 10 is placed on the lifting plate 422 by the first gripping mechanism 3, the lifting cylinder 421 descends to make the lifting plate 422 and the push plate 412 on the same horizontal line. Then, the push cylinder 411 pushes the push plate 412 to smoothly send the door hinge 10 on the lifting plate 422 into the material carrier 43, providing a good foundation for the gripping of the second gripping mechanism 5.

[0036] Material carrier 43: It is set in the same shape as the door hinge 10, which can play a precise guiding and positioning role for the door hinge. When the door hinge 10 enters the material carrier 43, its posture is further standardized and adjusted to ensure that the pin-type gripper 51 of the second gripping mechanism 5 can accurately and quickly complete the clamping action, improve the gripping efficiency and accuracy, and ensure that the door hinge 10 can be completely fitted with the positioning groove 431 to achieve precise positioning through its V-shaped positioning groove 431.

[0037] Secondly, it should be noted that the positioning mechanism 4 has two sets of structures to match the needs of paired use. In actual installation, the door hinges 10 are usually used in a symmetrical pair, which is also convenient for gripping. When gripping, they can be placed in the corresponding position when they are facing the same side, without the need for cumbersome repositioning, thereby improving gripping efficiency.

[0038] The pin-type gripper 51 includes a pin 511 and a gripper 512. The pin 511 and the gripper 512 are arranged parallel to each other. The shape of the pin 511 is adapted to the positioning hole 103. The gripper 512 is a symmetrical pneumatic finger gripper. The gripper 512 grips the extension 102, and the inner end of the gripper finger 5121 of the gripper 512 is provided with a number of teeth.

[0039] Two sets of pins 511 are arranged in parallel, and the gripper 512 is provided at the middle position of the two sets of pins 511. The pin-type gripper 51 synchronously grips the symmetrically arranged door hinges 10.

[0040] It should be further explained that the gripping fingers 5121 of the gripper 512 fit against the outer contour of the extension 102 of the door hinge 10, and the teeth at the end are arranged in a sawtooth pattern. This increases the contact friction and further improves the clamping reliability, preventing the extension 102 from slipping during the gripping process.

[0041] Secondly, it should be noted that the two sets of pins 511 are adapted to the positioning holes 103 of the door hinge 10. The two sets of pins 511 are set in parallel, which can grasp the door hinge 10 placed in different positions on the material carrier 43, improve the grasping speed, and eliminate the need for cumbersome changes in the angle of the pin-type gripper 51.

[0042] Work process: 1. The door hinge 10 to be grasped does not need to be stacked in the material frame 1. The limiting plate 11 on the side of the material frame 1 ensures that it is fixed and does not shift. Then, the vision recognition system 2 directly above the material frame 1 is activated. The light source module 22 adjusts the light source type according to the characteristics of the door hinge 10 to eliminate shadow or reflection interference. Then, the industrial camera 21 quickly collects the image information of the door hinge 10 in the material frame 1. The image processor 23 simultaneously completes the position and posture recognition and preliminary quality detection of the door hinge 10, and outputs the grasping command to the first grasping mechanism 3.

[0043] 2. After receiving the instruction, the parallel gripper 31 of the first gripping mechanism 3 moves to the target door hinge 10 position. The gripper cylinder 313 drives the symmetrical pneumatic finger gripper 311 to close. The friction is increased by the end teeth 312. The clamping force is adjusted according to the posture of the door hinge 10 to achieve reliable gripping and avoid falling during transportation. The first gripping mechanism 3 carries the door hinge 10 to the lifting device 42 of the positioning mechanism 4. The door hinge 10 is placed stably on the lifting plate 422 and then released.

[0044] 3. The lifting cylinder 421 of the lifting device 42 drives the lifting plate 422 to descend, so that the door hinge 10 and the pushing plate 412 of the pushing device 41 are on the same horizontal line. The pushing cylinder 411 is activated, which drives the pushing plate 412 to push the door hinge 10 on the lifting plate 422 horizontally into the V-shaped positioning groove 431 of the material carrier 43. The material carrier 43 and the door hinge 10 are designed to fit together so that the door hinge 10 fits completely against the groove wall, providing a positioning reference for the second gripping mechanism 5. The two sets of positioning mechanisms 4 operate synchronously and respectively support the symmetrical door hinges 10.

[0045] 4. The second gripping mechanism 5 moves above the positioning mechanism 4, and its pin-type gripper 51 aligns with the door hinge 10 on the material carrier 43. Two sets of parallel pins 511 can be inserted into the positioning holes 103 of the door hinge 10 at the corresponding side angle positions. At the same time, the gripping fingers 5121 of the symmetrically activated gripper close, fit against the extension 102 of the door hinge 10 and clamp it with the end teeth. After gripping, it moves to the next process according to the preset trajectory to complete one gripping cycle.

[0046] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A 3D visual recognition and grasping system for car door hinges, characterized in that, include: Material frame (1), visual recognition system (2), first gripping mechanism (3), positioning mechanism (4) and second gripping mechanism (5); The material frame (1) is used to store the door hinge (10) to be grabbed. The door hinge (10) includes a body (101) and an extension (102) extending outward from the body (101). The body (101) is provided with a positioning hole (103). The visual recognition system (2) is set across the top of the material frame (1). The visual recognition system (2) is used to identify and analyze the door hinge (10). A first gripping mechanism (3) is set below the visual recognition system (2), and a second gripping mechanism (5) is set next to the first gripping mechanism (3). The positioning mechanism (4) is located between the first gripping mechanism (3) and the second gripping mechanism (5); The first gripping mechanism (3) is provided with a parallel gripper (31) in the gripping section. The parallel gripper (31) receives the output command of the vision recognition system (2) and grips the door hinge (10) in the material frame (1). The second gripping mechanism (5) is provided with a pin-type gripper (51) in the gripping end. The pin-type gripper (51) is used to grip the door hinge (10) on the positioning mechanism (4).

2. The 3D visual recognition and grasping system for car door hinges according to claim 1, characterized in that: The material frame (1) is provided with several limiting plates (11) on its side, which are used to prevent the material frame (1) from moving arbitrarily.

3. The 3D visual recognition and grasping system for car door hinges according to claim 1, characterized in that: The visual recognition system (2) includes an industrial camera (21), a light source module (22), and an image processor (23). The industrial camera (21) and the light source module (22) are both installed directly above the material frame (1). The industrial camera (21) is used to collect image information of the door hinge (10) inside the material frame (1). The light source module (22) is used to provide stable lighting settings for the images collected by the industrial camera (21). The image processor (23) is electrically connected to the industrial camera (21) and is used to receive the image information collected by the industrial camera (21).

4. The 3D visual recognition and grasping system for car door hinges according to claim 1, characterized in that: The parallel gripper (31) is a symmetrical pneumatic finger gripper (311). The inner side end of the pneumatic finger gripper (311) is provided with a number of teeth (312), and the pneumatic finger gripper (311) is driven by a gripper cylinder (313).

5. The 3D visual recognition and grasping system for car door hinges according to claim 1, characterized in that: The positioning mechanism (4) includes a horizontally arranged material carrier (43), on which a V-shaped positioning groove (431) is provided. A lifting device (42) is provided at the input end of the positioning groove (431), and a pushing device (41) is provided on the other side of the lifting device (42) to push horizontally toward the material carrier (43).

6. The 3D visual recognition and grasping system for a car door hinge according to claim 5, characterized in that: The pushing device (41) includes a pushing cylinder (411), on the output shaft of which a pushing plate (412) is provided to push the door hinge (10) at the lifting device (42) to move horizontally.

7. The 3D visual recognition and grasping system for a car door hinge according to claim 5, characterized in that: The lifting device (42) includes a lifting cylinder (421), and the output shaft of the lifting cylinder (421) is provided with a lifting plate (422) that lifts the door hinge (10) in the vertical direction. The lifting plate (422) receives the door hinge (10) released by the first gripping mechanism (3).

8. The 3D visual recognition and grasping system for a car door hinge according to claim 5, characterized in that: The positioning mechanism (4) is arranged in two sets symmetrically horizontally, and the two sets of positioning mechanisms (4) are respectively used to support the symmetrically arranged door hinges (10).

9. The 3D visual recognition and grasping system for a car door hinge according to claim 1, characterized in that: The pin-type gripper (51) includes a pin (511) and a gripper (512). The pin (511) and the gripper (512) are arranged parallel to each other. The shape of the pin (511) is adapted to the positioning hole (103). The gripper (512) is a symmetrical finger pneumatic gripper. The gripper (512) grips the extension (102), and the inner end of the gripper finger (5121) of the gripper (512) is provided with a number of teeth.

10. A 3D visual recognition and grasping system for a car door hinge according to claim 9, characterized in that: Two sets of pins (511) are arranged in parallel, and the clamps (512) are provided at the middle position of the two sets of pins (511). The pin-type clamps (51) simultaneously grab the door hinges (10) arranged symmetrically.

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