Machine vision-based robotic automated loading and unloading device

Abstract

Disclosed is a machine vision-based robotic automated loading and unloading device, relating to the technical field of robotic devices. The present invention comprises a base, a conveyor being mounted at the top of the base, a mechanical driving arm being mounted at a rear side of the conveyor, a visual detection probe being disposed at one side of the mechanical driving arm, and a feeding table being disposed at one side of the conveyor. A clamping assembly is disposed at one side of the mechanical driving arm, the clamping assembly comprising a driving housing, and the driving housing being disposed at one side of the mechanical driving arm. The present invention, by means of the configuration of the clamping assembly, after the visual detection probe measures and maps a position of a workpiece, drives two moving plates to move the mechanical driving arm, so that conveyor belts move to two sides of the workpiece, and the two conveyor belts are driven to move relative to each other by means of the driving force of a first motor. Moreover, the workpiece is clamped and fixed by means of backing plates inside of the conveyor belts, and the bottom of the workpiece is shielded by means of a shielding plate. Hence, the stability of the workpiece can be improved during conveying.

Description

Robot automatic feeding and discharging equipment based on machine vision TECHNICAL FIELD

[0001] The present application belongs to the technical field of robot equipment, in particular relates to a robot automatic feeding and discharging equipment based on machine vision. BACKGROUND

[0002] The rapid development of machine vision technology provides a new solution for industrial automation, especially in the robot automatic feeding and discharging equipment, the application of machine vision is particularly important, this kind of equipment is usually used in the production line of material handling, assembly and packaging and other links, greatly improves the work efficiency and production precision, machine vision is through the camera and other sensors to obtain the environment image, through image processing algorithm analysis, realize the identification, positioning and measurement of object, combined with robot technology, machine vision can make robot make autonomous decision and operation in complex environment.

[0003] In the prior art, the Chinese patent with publication number "CN209970738U" discloses a robot automatic feeding and discharging device, when the robot body rotates to each place to realize the purpose of clamping and adsorbing the workpiece on the workpiece plate, and the robot body continuously moves downward to ensure that the pneumatic suction cup stably contacts, through the cooperation of the positioning rod arranged at the top of the connecting plate and the connecting spring, when the clamping part of the robot body appears over downward movement, the robot body and the workpiece plate are in rigid contact, and the compression of the connecting spring can prevent the collision between the robot body and the workpiece plate, better protect the robot body, solve the problem that the mechanical hand of the current industrial robot adopts the mode of pneumatic suction cup to realize clamping when clamping, and the rubber on the pneumatic suction cup needs to be closely attached to the workpiece when the pneumatic suction cup contacts the workpiece, and in the process of attaching the robot to the workpiece, the robot and the workpiece are often prone to collision, which can easily reduce the precision of the robot.

[0004] However, the above device still has the following problems in the implementation process: after the robot drives the suction cup to adsorb and fix the workpiece, only the top of the workpiece can be adsorbed, but the front and back of the workpiece are often mixed together during the conveying process, and the workpiece cannot be turned over during the movement of the workpiece, so additional equipment is needed for operation, which is very inconvenient to use, and if the adsorption force suddenly decreases when the suction cup moves the workpiece for a long distance, the workpiece will fall off, which has certain danger.

[0005] Therefore, we provide a robot automatic feeding and discharging equipment based on machine vision to solve the above problems.

[0006] SUMMARY

[0007] The purpose of the present application is to provide a robot automatic feeding and discharging equipment based on machine vision, which solves the problem of lack of turnover function after the workpiece is adsorbed and fixed by the suction cup driven by the machine arm in the prior art, and the need for additional equipment for turnover operation, and the problem of lack of anti-falling protection function of the suction cup.

[0008] To solve the above technical problems, the present application is realized by the following technical solutions:

[0009] The present application is a robot automatic feeding and discharging equipment based on machine vision, which comprises a base, a conveyor mounted on the top of the base, a mechanical drive arm mounted on the rear side of the conveyor, a visual detection probe provided on one side of the mechanical drive arm, and a feeding table provided on one side of the conveyor.

[0010] A clamping assembly is provided on one side of the mechanical drive arm, which comprises a drive shell provided on one side of the mechanical drive arm, a first motor mounted inside the drive shell, a rotating disc fixedly connected to the output end of the first motor, a guide groove formed in the interior of the rotating disc, a moving shaft slidingly connected inside the guide groove, and a moving plate fixedly connected to the bottom of the moving shaft, so as to clamp and fix the workpiece by the clamping assembly.

[0011] A turnover assembly is provided inside the moving plate, which comprises a support sleeve movably connected inside the moving plate, a square rod slidingly connected inside the support sleeve, and a second motor mounted on one end of the square rod, so as to turn over the workpiece by the turnover assembly.

[0012] An adjusting assembly is provided on one side of the moving plate, which comprises a rotating shell provided on one side of the moving plate, a support frame fixedly connected inside the rotating shell, and a third motor mounted on the rear side of the support frame, so as to adjust the position of the workpiece by the adjusting assembly.

[0013] An adsorption assembly is provided at the bottom of the drive shell, which comprises a suction cup mounted at the bottom of the drive shell and a negative pressure pump mounted inside the drive shell, so as to secondarily adsorb and fix the workpiece by the adsorption assembly.

[0014] The present application is further provided with a fourth motor mounted on the other end of the mechanical drive arm, a disc mounted on the output end of the fourth motor, two groups of moving columns respectively mounted on the other side of the disc, and the moving columns fixedly connected to the drive shell at the other end.

[0015] The present application is further provided with an activity rod movably connected inside the moving plate, a first belt disc fixedly connected to the surface of the activity rod, and a second belt disc fixedly connected to the surface of the support sleeve.

[0016] The application is further provided with that the first belt pulley and the second belt pulley are connected through a belt transmission, and the other end of the movable rod is fixedly connected with the rotating shell.

[0017] The application is further provided with that the adjusting assembly further comprises an auxiliary roller movably connected to the inside of the support frame, the output end of the third motor penetrates into the inside of the support frame and is fixedly connected with a driving roller, and the driving roller and the auxiliary roller are sleeved with a conveying belt.

[0018] The application is further provided with that one side of the conveying belt is fixedly connected with a shielding plate, and the inside of the support frame is fixedly connected with a backing plate.

[0019] The application is further provided with that one side of the second motor is fixedly connected with the driving shell, and the other end of the square rod is movably connected with the inner wall of the driving shell through a first bearing.

[0020] The application is further provided with that a gas conveying pipe is communicated between the negative pressure pump and the suction disc, and the surface of the gas conveying pipe is sleeved with a solenoid valve.

[0021] The application is further provided with that the surface of the support sleeve is movably connected with the inner wall of the moving plate through a second bearing, and a sliding groove is formed in the bottom of the driving shell.

[0022] The application is further provided with that one side of the visual detection probe is provided with a cross frame, and the other end of the cross frame is fixedly connected with the driving shell.

[0023] The application has the following beneficial effects:

[0024] 1、Through the setting of the clamping assembly, after the position of the workpiece is measured by the visual detection probe, the two groups of moving plates are moved by the mechanical driving arm, the conveying belt is moved to the two sides of the workpiece, the relative movement of the two groups of conveying belts is driven by the driving force of the first motor, the workpiece is clamped and fixed by the backing plate in the conveying belt, and the bottom of the workpiece is shielded by the shielding plate, so that the stability of the workpiece conveying can be improved.

[0025] 2、Through the setting of the overturning assembly, after the workpiece is clamped and fixed by the moving plate, the square rod is driven by the second motor, the two groups of first belt pulleys are driven to rotate by the two groups of belts, and the workpiece is rotated by the support frame and the moving plate, so that the workpiece is overturned in the process of moving, and the processing efficiency of the equipment can be effectively improved.

[0026] 3、Through the setting of the adjusting assembly, after the workpiece is overturned, the workpiece is pushed upward by the contact friction force between the conveying belt and the workpiece under the driving of the third motor, so that the workpiece is attached to the suction disc, the negative pressure generated by the negative pressure pump is used for secondary adsorption and fixation of the workpiece, and the function of preventing falling can be achieved when the workpiece is conveyed at a long distance.

[0027] Of course, implementing any product of the present application does not necessarily require achieving all the advantages described above at the same time. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the embodiments will be briefly introduced as follows.

[0029] Fig. 1 is a structure perspective view of a robot automatic feeding and discharging equipment based on machine vision;

[0030] Fig. 2 is a connection schematic view of a fourth motor and a disc in a robot automatic feeding and discharging equipment based on machine vision;

[0031] Fig. 3 is a sectional view of a driving shell in a robot automatic feeding and discharging equipment based on machine vision;

[0032] Fig. 4 is a top view of a partial sectional view of a driving shell in a robot automatic feeding and discharging equipment based on machine vision;

[0033] Fig. 5 is an exploded schematic view of a surface structure of a support frame in a robot automatic feeding and discharging equipment based on machine vision;

[0034] Fig. 6 is a sectional view of a moving plate in a robot automatic feeding and discharging equipment based on machine vision;

[0035] Fig. 7 is a partial sectional view of a moving plate, a support sleeve and a second belt disc in a robot automatic feeding and discharging equipment based on machine vision;

[0036] Fig. 8 is a rotating schematic view of a workpiece in a robot automatic feeding and discharging equipment based on machine vision;

[0037] Fig. 9 is a fixing schematic view of a workpiece in a robot automatic feeding and discharging equipment based on machine vision.

[0038] In the drawings: 1, base; 2, conveyor; 3, mechanical driving arm; 4, visual detection probe; 5, feeding table; 6, driving shell; 7, first motor; 8, rotating disc; 9, guide rail groove; 10, moving shaft; 11, moving plate; 12, support sleeve; 13, square rod; 14, second motor; 15, rotating shell; 16, support frame; 17, third motor; 18, suction disc; 19, negative pressure pump; 20, fourth motor; 21, disc; 22, moving column; 23, movable rod; 24, first belt disc; 25, second belt disc; 26, auxiliary roller; 27, driving roller; 28, conveying belt; 29, shielding plate; 30, pad; 31, gas conveying pipe; 32, cross frame. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application. The described embodiments are only some of the embodiments of the present application, but not all the embodiments.

[0040] Embodiment one

[0041] Please refer to FIG. 1-9, the present application is a kind of robot automatic feeding and discharging equipment based on machine vision, including base 1, base 1 top is equipped with conveyor 2, conveyor 2 rear side is equipped with mechanical drive arm 3, mechanical drive arm 3 side is provided with visual detection probe 4, conveyor 2 side is provided with feeding table 5;Mechanical drive arm 3 side is provided with clamping assembly, clamping assembly includes drive shell 6, drive shell 6 is arranged in mechanical drive arm 3 side, first motor 7 is installed in drive shell 6, first motor 7 output end is fixedly connected with turntable 8, turntable 8 is internally provided with guide groove 9, guide groove 9 is internally connected with moving shaft 10 slidingly, moving shaft 10 bottom is fixedly connected with moving plate 11, workpiece is clamped and fixed by clamping assembly;Moving plate 11 is internally provided with turnover assembly, turnover assembly includes support sleeve 12, support sleeve 12 is movably connected in moving plate 11, square bar 13 is movably connected in support sleeve 12, second motor 14 is installed in square bar 13 one end;Workpiece is turned over by turnover assembly;Moving plate 11 side is provided with adjusting assembly, adjusting assembly includes rotary shell 15, rotary shell 15 is arranged in moving plate 11 side, support frame 16 is fixedly connected in rotary shell 15, third motor 17 is installed in support frame 16 rear side, the position of workpiece is adjusted by adjusting assembly;Drive shell 6 bottom is provided with adsorption assembly, adsorption assembly includes suction cup 18, suction cup 18 is installed in drive shell 6 bottom, negative pressure pump 19 is installed in drive shell 6, workpiece is secondarily adsorbed and fixed by adsorption assembly.

[0042] Specifically: mechanical drive arm 3 is driven by motor, gas pressure or hydraulic system, can be accurately positioned in three-dimensional space, visual detection probe 4 system is composed of camera, image processing software and computer, it is responsible for capturing the image of target object, and extracts feature information such as shape, position, color through image processing algorithm, visual probe first scans working area, identifies and locates target object, after identifying object, visual system transmits position information and other related data to the control system of mechanical arm, mechanical arm moves to the position of target object and executes grabbing or operation according to the received position information, belongs to the mature technology application.

[0043] Embodiment two

[0044] Please refer to Figure 1-9, on the basis of the first specific embodiment, the other end of the mechanical driving arm 3 is provided with a fourth motor 20, the output end of the fourth motor 20 is provided with a disc 21, the other side of the disc 21 is respectively provided with two groups of moving columns 22, the other end of the moving column 22 is fixedly connected with the driving shell 6, the turnover assembly further comprises a movable rod 23, the movable rod 23 is movably connected in the moving plate 11, the surface of the movable rod 23 is fixedly connected with a first belt disc 24, the surface of the supporting sleeve 12 is fixedly connected with a second belt disc 25, the first belt disc 24 and the second belt disc 25 are drivingly connected through a belt, the other end of the movable rod 23 is fixedly connected with the rotating shell 15, the adjusting assembly further comprises an auxiliary roller 26, the auxiliary roller 26 is movably connected in the supporting frame 16, the output end of the third motor 17 penetrates into the supporting frame 16 and is fixedly connected with a driving roller 27, the driving roller 27 and the surface of the auxiliary roller 26 are provided with a conveying belt 28.

[0045] Specifically: the top of the feeding table 5 is used for placing the workpiece to be processed, the guide groove 9 is arc-shaped, when the rotating disc 8 rotates around the output end of the first motor 7 as the axis, it can simultaneously push the two groups of moving shafts 10, the supporting sleeve 12 is slidingly connected on the surface of the square rod 13, which can support the two groups of moving plates 11 when they move relative to each other, the surface of the supporting sleeve 12 is movably connected with the inner wall of the moving plate 11 through a bearing, the two groups of supporting sleeves 12 can be rotated by the square rod 13, the third motor 17 is used to drive the driving roller 27 to rotate and convey the conveying belt 28.

[0046] Specific embodiment three

[0047] Please refer to Figure 1-9, on the basis of the first specific embodiment, one side of the conveying belt 28 is fixedly connected with a shielding plate 29, the inside of the supporting frame 16 is fixedly connected with a backing plate 30, one side of the second motor 14 is fixedly connected with the driving shell 6, the other end of the square rod 13 is movably connected with the inner wall of the driving shell 6 through a first bearing, the negative pressure pump 19 is in communication with the suction cup 18 through a gas conveying pipe 31, the surface of the gas conveying pipe 31 is provided with a solenoid valve, the surface of the supporting sleeve 12 is movably connected with the inner wall of the moving plate 11 through a second bearing, the bottom of the driving shell 6 is provided with a sliding groove, one side of the visual detection probe 4 is provided with a cross frame 32, the other end of the cross frame 32 is fixedly connected with the driving shell 6.

[0048] Specifically: the negative pressure pump 19 can drive air flow, when the workpiece contacts the suction cup 18, it can extract the air inside the suction cup 18 to form negative pressure, realizing the fixing effect of the workpiece, the fourth motor 20 can cooperate with the disc 21 to alternately adjust the position of the two groups of moving columns 22, which can simultaneously clamp and carry two groups of workpieces, the first belt disc 24 and the second belt disc 25 are drivingly connected through a belt, which can transmit the power of the second motor 14, the shielding plate 29 is installed on the surface of the conveying belt 28, which can shield the bottom of the workpiece when conveying the workpiece upward, the backing plate 30 can support inside the conveying belt 28.

[0049] The working principle of the present application is that the staff starts the mechanical driving arm 3 through the external controller, the mechanical driving arm 3 drives the visual detection probe 4 to move to the top of the feeding table 5, and the image of the target object is captured through the visual detection probe 4, the grabbing path is measured and drawn, and then the mechanical driving arm 3 drives the two groups of moving plates 11 to move, so that the conveying belt 28 moves to the two sides of the workpiece;

[0050] Then the first motor 7 is started, the first motor 7 drives the rotating disc 8 to rotate, the rotating disc 8 cooperates with the guide rail groove 9 to push the moving shaft 10, the moving shaft 10 drives the two groups of moving plates 11 to move relatively, and the moving plates 11 move while driving the conveying belt 28 and the backing plate 30 to contact the workpiece, and the workpiece is limited through the friction force;

[0051] When it is necessary to turn over the workpiece, the third motor 17 can be started, the third motor 17 cooperates with the driving roller 27 to drive the conveying belt 28 to rotate, the workpiece is moved upward through the friction force, and moves to the position between the driving roller 27 and the auxiliary roller 26, then the second motor 14 is started, the second motor 14 cooperates with the square rod 13 to drive the supporting sleeve 12 to rotate, the supporting sleeve 12 cooperates with the second belt disc 25 to drive the first belt disc 24 to rotate, the first belt disc 24 cooperates with the movable rod 23 to drive the rotating shell 15 to rotate, the rotating shell 15 cooperates with the conveying belt 28 to drive the workpiece to rotate clockwise, as shown in FIG. 8, the workpiece is turned over in the process of moving, which can effectively improve the processing efficiency of the equipment;

[0052] After the workpiece rotates 180 degrees clockwise, the third motor 17 can be started again to drive the workpiece to continue moving upward, so that the workpiece contacts the suction cup 18, as shown in FIG. 9, and the negative pressure pump 19 is started at the same time, the air in the suction cup 18 is extracted to form negative pressure, so as to realize the fixing effect of the workpiece, which can play a protection function of preventing falling when conveying the workpiece at a long distance.

[0053] The standard parts used in the present application can be purchased from the market, and can be customized according to the description and drawings, the specific connection mode of each part adopts the conventional means such as bolt, rivet and welding in the prior art, the machinery, parts and equipment adopt the conventional type in the prior art, the control mode is automatically controlled through the control unit, the control circuit of the control unit can be realized through simple programming of the person skilled in the art, which belongs to the common knowledge in the field, so the control mode and circuit connection in the present application are not explained in detail.

[0054] The above disclosed preferred embodiments of the present application are only used to help explain the present application, the preferred embodiments do not describe all the details, and the present application is not limited to the specific embodiments described, the description selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present application, so that those skilled in the art can well understand and utilize the present application.

Claims

1. A robot automatic loading and unloading equipment based on machine vision, comprising a base (1), characterized in that: The base (1) top is provided with a conveyor (2), the rear side of the conveyor (2) is provided with a mechanical drive arm (3), one side of the mechanical drive arm (3) is provided with a visual detection probe (4), one side of the conveyor (2) is provided with a feeding table (5); One side of the mechanical drive arm (3) is provided with a clamping assembly, the clamping assembly comprises a drive shell (6), the drive shell (6) is arranged on one side of the mechanical drive arm (3), a first motor (7) is arranged in the drive shell (6), a rotating disc (8) is fixedly connected to the output end of the first motor (7), a guide groove (9) is formed in the rotating disc (8), a moving shaft (10) is slidably connected in the guide groove (9), a moving plate (11) is fixedly connected to the bottom of the moving shaft (10), and the workpiece is clamped and fixed by the clamping assembly. The moving plate (11) is provided with a turnover assembly, the turnover assembly comprises a support sleeve (12), the support sleeve (12) is movably connected in the moving plate (11), a square rod (13) is slidably connected in the support sleeve (12), and a second motor (14) is arranged at one end of the square rod (13); the workpiece is turned over by the turnover assembly; One side of the moving plate (11) is provided with an adjusting assembly, the adjusting assembly comprises a rotating shell (15), the rotating shell (15) is arranged on one side of the moving plate (11), a support frame (16) is fixedly connected in the rotating shell (15), and a third motor (17) is arranged on the rear side of the support frame (16); the position of the workpiece is adjusted by the adjusting assembly; The bottom of the drive shell (6) is provided with an adsorption assembly, the adsorption assembly comprises a suction cup (18), the suction cup (18) is arranged on the bottom of the drive shell (6), and a negative pressure pump (19) is arranged in the drive shell (6); the workpiece is secondarily adsorbed and fixed by the adsorption assembly. 2.The machine vision-based robot automatic loading and unloading device according to claim 1, characterized in that: The other end of the mechanical drive arm (3) is provided with a fourth motor (20), a disc (21) is arranged at the output end of the fourth motor (20), two groups of moving columns (22) are arranged on the other side of the disc (21), and the other ends of the moving columns (22) are fixedly connected with the drive shell (6). 3.The machine vision-based robot automatic loading and unloading device according to claim 1, characterized in that: The turnover assembly further comprises a movable rod (23), the movable rod (23) is movably connected in the moving plate (11), a first belt pulley (24) is fixedly connected to the surface of the movable rod (23), and a second belt pulley (25) is fixedly connected to the surface of the support sleeve (12).

4. The robot automatic loading and unloading equipment based on machine vision according to claim 3, characterized in that: The first belt pulley (24) and the second belt pulley (25) are connected by a belt drive, and the other end of the movable rod (23) is fixedly connected with the rotating shell (15).

5. The robot automatic loading and unloading equipment based on machine vision according to claim 1, characterized in that: The adjusting assembly further comprises an auxiliary roller (26), the auxiliary roller (26) is movably connected in the support frame (16), the output end of the third motor (17) penetrates into the support frame (16) and is fixedly connected with a drive roller (27), and the drive roller (27) and the auxiliary roller (26) are sleeved with a conveyor belt (28). 6.The machine vision-based robot automatic loading and unloading device according to claim 5, characterized in that: A baffle plate (29) is fixedly connected to one side of the conveyor belt (28), and a pad plate (30) is fixedly connected inside the support frame (16).

7. The robot automatic loading and unloading equipment based on machine vision according to claim 1, characterized in that: The second motor (14) is fixedly connected to the drive housing (6) on one side, and the other end of the square rod (13) is movably connected to the inner wall of the drive housing (6) through the first bearing. 8.The machine vision-based robot automatic loading and unloading device according to claim 1, characterized in that: A gas delivery pipe (31) is connected between the negative pressure pump (19) and the suction cup (18), and an electromagnetic valve is fitted on the surface of the gas delivery pipe (31). 9.The machine vision-based robot automatic loading and unloading device according to claim 1, wherein: The surface of the support sleeve (12) is movably connected to the inner wall of the moving plate (11) through the second bearing, and the bottom of the drive housing (6) is provided with a sliding groove. 10.The machine vision-based robot automatic loading and unloading device according to claim 1, wherein: A crossbeam (32) is installed on one side of the visual inspection probe (4), and the other end of the crossbeam (32) is fixedly connected to the drive housing (6).

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