CN113954123A

CN113954123A - Robot material grabbing precision positioning system and working process thereof

Info

Publication number: CN113954123A
Application number: CN202111462034.9A
Authority: CN
Inventors: 吉华; 陆明明
Original assignee: Wuxi Chuangsi Da Precision Machinery Co ltd
Current assignee: Wuxi Chuangsi Da Precision Machinery Co ltd
Priority date: 2021-12-02
Filing date: 2021-12-02
Publication date: 2022-01-21

Abstract

The invention provides a precision positioning system for grabbing materials by a robot and a working process thereof, and relates to the technical field of plastic shell processing equipment, the precision positioning system for grabbing materials by the robot and the working process thereof comprise a fixed frame and a supporting table at the side part of the fixed frame, wherein the fixed frame is provided with a circulating bin, the top part of the fixed frame is provided with a vision camera which is positioned right above the circulating bin, the top part of the supporting table is provided with a manipulator near the vision camera, the moving end of the manipulator is connected with an overturning clamping jaw, the top part of the supporting table is provided with a precision positioning camera which is positioned at the side part of the manipulator, the precision positioning system for grabbing materials by the robot and the working process thereof can realize automatic feeding, reduce manual participation, reduce working strength, are beneficial to reducing labor cost, realize that various materials can share the circulating bin, do not need to change shapes, and pass through the precision positioning camera, the material can be placed in the material carrier more stably and reliably.

Description

Robot material grabbing precision positioning system and working process thereof

Technical Field

The invention relates to the technical field of plastic shell processing equipment, in particular to a precision positioning system for grabbing materials by a robot and a working process thereof.

Background

Mould the shell and be connector part for the car, in the course of working, the mode of carrying through artifical or vibration dish will mould the certain inclination of shell control, carry out horizontal migration with the material through the conveyer belt, the manipulator that is located the other conveyer belt snatchs it, and move to the station department of treating processing, the material that the manipulator will be snatched in future still needs artifical the removal to the initiating terminal, waste time and energy, the material of different models need separately to place or change the assembly line simultaneously, complex operation, and the position that the manipulator snatched the material at every turn is different, unable accurate placing in the material carrier, influence the result of processing.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides a robot material grabbing precision positioning system and a working process thereof, and solves the problems that materials to be grabbed by a manipulator in the future need to be manually moved to an initial end, time and labor are wasted, materials of different types need to be separately placed or a production line needs to be replaced, the operation is complex, and the manipulator cannot be accurately placed in a material carrier at different material grabbing positions every time, so that the processing effect is influenced.

(II) technical scheme

In order to achieve the purpose, the invention is realized by the following technical scheme: the utility model provides a robot snatchs material precision positioning system reaches, brace table including mount and lateral part thereof, be equipped with the circulation feed bin on the mount, the top of mount just is located the circulation feed bin and installs the vision camera directly over, and the top of brace table just is close to vision camera department and installs the manipulator, and the removal end of manipulator is connected with the upset clamping jaw, the top of brace table just is located the lateral part of manipulator and installs the accurate positioning camera.

Further, circulation feed bin has blown down tank, horizontal transport belt, tip that the end to end links up in proper order to draw hopper, slope conveyer belt and blanking storehouse to constitute, and in the blanking storehouse was poured into to the material, the material slided to in the blown down tank to shake in vibrating motor's effect, the material that shakes off passed through horizontal transport belt and moves to the tip and draws the hopper in, and draw the slope conveyer belt 33 of hopper 34 inner wall bottom side to send back again to the blanking storehouse in through the tip, run the material with this circulation.

Further, a vibrating motor is arranged at the bottom of the discharge chute.

Furthermore, the height of fine positioning camera is lower than the circulating stock bin, and a light supplement power supply is arranged above the fine positioning camera.

Further, the vision camera is located directly above the horizontal conveyor belt.

A work flow of a robot grabbing material precision positioning system comprises the following steps:

adding materials into a blanking bin of a circulating bin, and circularly running the materials on the circulating bin;

secondly, shooting the material by a vision camera, visually judging the position and the state of the material, and transmitting information to a manipulator;

thirdly, moving the overturning clamping jaw to grab the material after the mechanical arm receives the visual information;

and step four, after the manipulator grabs the material, the manipulator moves to the upper part of the fine positioning camera, and the fine positioning camera judges the precise position of the material on the overturning clamping jaw so as to ensure that the material can be stably placed into the material carrier.

(III) advantageous effects

The invention provides a robot material grabbing precision positioning system and a working process thereof. The method has the following beneficial effects:

1. this material precision positioning system is snatched to robot and work flow thereof can realize automatic feeding, reduces artifical the participation, reduces working strength, also does benefit to and reduces the personnel selection cost.

2. The robot grabbing material precision positioning system and the working process thereof can realize the sharing of a circulating stock bin by various materials without the need of model changing operation.

3. The robot grabbing material precision positioning system and the working process thereof can better, stably and reliably place materials in a material carrier through the fine positioning camera.

Drawings

Fig. 1 is a perspective view of the structure of the present invention.

Fig. 2 is a top view of the structure of the present invention.

Fig. 3 is a schematic structural diagram of the circulating storage bin of the present invention.

In the figure: 1. a fixed mount; 2. a support table; 3. circulating a stock bin; 31. a discharge chute; 32. a blanking bin; 33. inclining the conveying belt; 34. an end guide hopper; 4. a manipulator; 5. turning over the clamping jaw; 6. a vision camera; 7. the camera is finely positioned.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The embodiment of the invention provides a precision positioning system for grabbing materials by a robot and a working process thereof, as shown in figures 1-3, the precision positioning system comprises a fixed frame 1 and a supporting table 2 at the side part of the fixed frame, a circulating bin 3 is arranged on the fixed frame 1, the circulating bin 3 consists of a discharge chute 31, a horizontal conveying belt, an end part guide hopper 34, an inclined conveying belt 33 and a blanking bin 32 which are sequentially connected end to end, a vibrating motor is arranged at the bottom of the discharge chute 31, the materials are poured into the blanking bin 32, the materials slide into the discharge chute 31 and are shaken under the action of the vibrating motor, the shaken materials are moved into the end part guide hopper 34 through the horizontal conveying belt and are sent back into the blanking bin 32 again through the inclined conveying belt 33 at the bottom side of the inner wall of the end part guide hopper 34 so as to carry out circulating material running, a vision camera 6 is arranged at the top of the fixed frame 1 and right above the circulating bin 3, the vision camera 6 is positioned right above the horizontal conveying belt, the top of brace table 2 just is close to vision camera 6 and installs manipulator 4, and the removal end of manipulator 4 is connected with upset clamping jaw 5, and the top of brace table 2 and the lateral part that is located manipulator 4 install smart location camera 7, and smart location camera 7 highly is less than circulation feed bin 3, and the top of smart location camera 7 is equipped with the light filling power.

step one, adding materials into a blanking bin 32 of a circulating bin 3, and circularly running the materials on the circulating bin 3;

secondly, shooting the material by a vision camera 6, visually judging the position and the state of the material, and transmitting information to the manipulator 4;

thirdly, moving the overturning clamping jaw 5 to grab the material after the mechanical arm 4 receives the visual information;

and step four, after the manipulator 4 grabs the material, moving the material to the position above the fine positioning camera 7, and judging the accurate position of the material on the overturning clamping jaw 5 through the fine positioning camera 7 so as to ensure that the material can be stably placed into the material carrier.

The working principle is as follows: during the use, the material is added in the blanking storehouse 32 of circulation feed bin 3, the material slides to the blown down tank 31 in, and shake at vibrating motor's effect, the material that shakes off moves to the tip through horizontal conveyor and draws in hopper 34, and draw the slope conveyer belt 33 of hopper 34 inner wall bottom side through the tip and send back again to the blanking storehouse 32 in, run the material with this circulation, vision camera 6 shoots the material, the position and the state of vision judgement material, and give information transfer to manipulator 4, manipulator 4 receives the information of vision after, remove upset clamping jaw 5 and snatch the material, manipulator 4 snatchs behind the material, move to accurate positioning camera 7 top, judge the accurate position of material on upset clamping jaw 5 through accurate positioning camera 7, in order to ensure that the material can be stable put into the material carrier.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a robot snatchs material precision positioning system, includes brace table (2) of mount (1) and lateral part thereof, its characterized in that: be equipped with circulation feed bin (3) on mount (1), install vision camera (6) directly over the top of mount (1) and be located circulation feed bin (3), the top of brace table (2) just is close to vision camera (6) and locates to install manipulator (4), and the removal end of manipulator (4) is connected with upset clamping jaw (5), the top of brace table (2) just is located the lateral part of manipulator (4) and installs accurate positioning camera (7).

2. The robot-grabbed material precision positioning system as recited in claim 1, wherein: the circulating storage bin (3) is composed of a discharge chute (31), a horizontal conveying belt, an end part guide hopper (34), an inclined conveying belt (33) and a blanking bin (32) which are sequentially connected end to end.

3. The robot-grabbed material precision positioning system as recited in claim 2, wherein: and a vibrating motor is arranged at the bottom of the discharge chute (31).

4. The robot-grabbed material precision positioning system as recited in claim 1, wherein: the height of the fine positioning camera (7) is lower than that of the circulating stock bin (3), and a light supplement power supply is arranged above the fine positioning camera (7).

5. The robot-grabbed material precision positioning system as recited in claim 2, wherein: the vision camera (6) is positioned right above the horizontal conveying belt.

6. A work flow of a robot grabbing material precision positioning system comprises the following steps:

firstly, adding materials into a blanking bin (32) of a circulating bin (3), and circularly running the materials on the circulating bin (3);

secondly, shooting the material by a vision camera (6), visually judging the position and the state of the material, and transmitting information to the manipulator (4);

thirdly, moving the turnover clamping jaw (5) to grab the material after the mechanical arm (4) receives the visual information;

and step four, after the manipulator (4) grabs the material, the manipulator moves to the position above the fine positioning camera (7), and the fine positioning camera (7) is used for judging the precise position of the material on the overturning clamping jaw (5) so as to ensure that the material can be stably placed into the material carrier.