CN116551739A - Intelligent wiring robot based on machine vision technology and working method thereof - Google Patents
Intelligent wiring robot based on machine vision technology and working method thereof Download PDFInfo
- Publication number
- CN116551739A CN116551739A CN202310629321.7A CN202310629321A CN116551739A CN 116551739 A CN116551739 A CN 116551739A CN 202310629321 A CN202310629321 A CN 202310629321A CN 116551739 A CN116551739 A CN 116551739A
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- module
- clamping
- machine vision
- robot based
- vision technology
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000005520 cutting process Methods 0.000 claims description 37
- 230000003028 elevating effect Effects 0.000 claims description 6
- 230000000149 penetrating effect Effects 0.000 claims description 6
- 210000001503 joint Anatomy 0.000 claims description 3
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 abstract description 3
- 230000010354 integration Effects 0.000 abstract description 3
- 238000005259 measurement Methods 0.000 abstract description 3
- 238000005299 abrasion Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides an intelligent wiring robot based on a machine vision technology and a working method thereof, the intelligent wiring robot comprises a wiring robot body, wherein the wiring robot body comprises a base, a shaft moving module, a clamping module and a feeding assembly, a processing table is arranged at the top of the base, the shaft moving module is arranged at the side edge of the processing table, a lifting mechanism is arranged at the top of the shaft moving module, the clamping module is arranged at the bottom of the lifting mechanism, a vision module is arranged at the front end of the lifting mechanism, a positioning assembly is arranged at the inner side of the clamping module, and when the wiring robot is used, the functions of clamping, connecting, clamping measurement and the like can be realized only by controlling the position of the clamping module, so that the structure is more compact, the integration degree is high, the abrasion to an internal copper wire can be avoided, and the phenomenon of slipping between a wire and a roller can be effectively avoided through the feeding assembly at the rear end.
Description
Technical Field
The invention relates to the technical field of electrical equipment, in particular to an intelligent wiring robot based on a machine vision technology and a working method thereof.
Background
The intelligent wiring robot needs to clamp and connect the cable, and the process comprises a plurality of steps of wire feeding, measuring, cutting, line pressing locking and the like, so that time and labor are wasted through manual connection, the efficiency is low, and the intelligent wiring robot can accurately and efficiently realize the wiring process.
But wiring robot among the prior art still can pass through a plurality of processing steps when using, and equipment structure is complicated, manufacturing cost is high, wherein to the length measurement process of wire rod, all through the form of pulling after cutting, this in-process is easy because not completely straighten and is led to appearing measuring error, consequently wiring can reduce the connection fastness of wiring port part in the long-time use of follow-up after accomplishing, on the other hand, the wire rod of every connection all is laid through cutting into sections's form, and conventional intelligent wiring robot can have certain difference to the length after every cuts because wire self rocks when cutting the wire, the degree of difficulty of follow-up connection has been improved, the difference of length also can reduce the accuracy when wiring.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention aims to provide an intelligent wiring robot based on a machine vision technology and a working method thereof, so as to solve the problems in the background art.
In order to achieve the above object, the present invention is realized by the following technical scheme: the utility model provides an intelligent wiring robot based on machine vision technique, includes the wiring robot body, the wiring robot body includes the base, moves axle module, centre gripping module and pay-off subassembly, processing platform is installed at the top of base, move the axle module to the side of processing platform, move the top of axle module and install elevating system, the centre gripping module is installed to elevating system's bottom, vision module is installed to elevating system's front end, locating component is installed to the inboard of centre gripping module, the rear end of processing platform is provided with the backplate, the pay-off subassembly is installed to the top intermediate position of backplate, the backplate is provided with two-layer, and installs the side shield in the centre of two-layer backplate, cutting mechanism is installed to the intermediate position of side shield, cutting mechanism's intermediate position coincides with the intermediate position of pay-off subassembly.
Further, the clamping module comprises a manipulator and a clamping plate, a positioning assembly is arranged in the middle of the manipulator, the clamping plate is arranged at the bottom of the manipulator, and a double-layer rubber clamping strip is attached to the inner side of the clamping plate.
Further, the rotation axis is installed at the top of manipulator, the backup pad is installed to the rear end of manipulator, the pneumatic rod is installed to the inboard of backup pad, the end and the locating component part fixed connection of pneumatic rod.
Further, the rear end of the positioning component is inserted into the manipulator and connected with the pneumatic rod part, one end of the positioning component is of a semicircular structure, and a heating wire is embedded in the inner side of the semicircular structure of the positioning component.
Further, the feeding assembly comprises a front threading roller and a rear threading roller, the bottoms of the front threading roller and the rear threading roller are respectively provided with a driving shaft, the bottoms of the driving shafts are respectively provided with motor equipment, and the bottoms of the driving shafts and the corresponding motor equipment are respectively embedded into the base.
Further, the front end threading roller and the rear end threading roller are both provided with two, the side edges of each front end threading roller or rear end threading roller are mutually attached and contacted, and rubber layers are attached to the side edges of the front end threading roller and the rear end threading roller.
Further, the cutting mechanism comprises a threading sleeve and an arc-shaped cutting edge, a supporting rod is welded and installed on the side edge of the threading sleeve, the tail end of the supporting rod is fixedly connected with the side baffle plate part, and the arc-shaped cutting edge penetrates into the threading sleeve from the bottom.
Further, the bottom of arc cutting edge is connected with the lifter plate, the layer board is installed to the bottom of lifter plate, electric putter is installed to the bottom of layer board, electric putter's bottom embeds the inside of base.
The working method of the intelligent wiring robot based on the machine vision technology, which uses the wiring robot body part, comprises the following steps: step one, conveying wires from the inside of a feeding assembly in a penetrating way; step two, penetrating one end of the wire rod into the clamping module, and positioning the conveying length through an external control system; starting a positioning assembly in the clamping module to carry out clamping treatment; step four, controlling the clamping module to move upwards, and clamping the wire rod by using a clamping plate at the bottom; and fifthly, cutting the wire rod, and controlling the clamping module to penetrate the cut wire rod into the electric equipment by utilizing the shaft moving module to finish butt joint.
Furthermore, in the third step, the inner side of the positioning assembly is directly attached to the insulating rubber on the surface of the wire rod, and the wire rod is clamped through the rubber pad attached to the inner side.
The invention has the beneficial effects that: the invention relates to an intelligent wiring robot based on a machine vision technology and a working method thereof, and the intelligent wiring robot comprises a base, a processing table, a shaft moving module, a lifting mechanism, a rear baffle plate, a clamping module, a feeding assembly, a manipulator, a rotating shaft, a clamping plate, a rubber clamping strip, a supporting plate, a pneumatic rod, a positioning assembly, a driving shaft, a rear threading roller, a front threading roller, a side baffle plate, a cutting mechanism, a threading sleeve, an arc-shaped cutting edge, a lifting plate, a supporting plate, an electric push rod, a supporting rod and a vision module.
1. The intelligent wiring robot based on the machine vision technology and the working method thereof can realize the functions of clamping, connecting, measuring and the like only by controlling the position of the clamping module, so that the intelligent wiring robot is more compact in structure, high in integration degree, simple in structure, more accurate and efficient in the process of measuring cables, and capable of avoiding abrasion to internal copper wires.
2. According to the intelligent wiring robot based on the machine vision technology and the working method thereof, the functions of conveying, tensioning and positioning measurement of the wires are achieved through the feeding component at the rear end, conveying accuracy is higher, slipping between the wires and the rollers can be effectively avoided, waste of the wires is reduced, and flexibility is higher.
3. According to the intelligent wiring robot based on the machine vision technology and the working method thereof, two groups of roller parts are arranged, the cutting mechanism is arranged in the middle of the two groups of threading rollers, and the wire parts in the middle can be tensioned by controlling the rotation states of the two groups of threading rollers, so that the wire parts are smoothly cut in the subsequent cutting process, and the cutting success rate and the positioning accuracy are improved.
Drawings
FIG. 1 is a schematic diagram of the configuration of an intelligent wiring robot based on machine vision technology according to the present invention;
FIG. 2 is a schematic diagram of a clamping module part of an intelligent wiring robot based on machine vision technology;
FIG. 3 is a schematic diagram of a part of a feeding assembly of an intelligent wiring robot based on machine vision technology;
FIG. 4 is a schematic diagram of a cutting mechanism of an intelligent wiring robot based on machine vision technology according to the present invention;
FIG. 5 is a flow chart of an intelligent wiring robot work method based on machine vision technology of the present invention;
in the figure: 1. a base; 2. a processing table; 3. a shift module; 4. a lifting mechanism; 5. a rear baffle; 6. a clamping module; 7. a feeding assembly; 8. a manipulator; 9. a rotating shaft; 10. a clamping plate; 11. a rubber clamping strip; 12. a support plate; 13. a pneumatic lever; 14. a positioning assembly; 15. a drive shaft; 16. a rear threading roller; 17. a front threading roller; 18. side baffles; 19. a cutting mechanism; 20. threading sleeve; 21. an arc-shaped blade; 22. a lifting plate; 23. a supporting plate; 24. an electric push rod; 25. a support rod; 26. and a vision module.
Detailed Description
The invention is further described in connection with the following detailed description, in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the invention easy to understand.
Referring to fig. 1 to 5, the present invention provides a technical solution: the intelligent wiring robot based on the machine vision technology comprises a wiring robot body, wherein the wiring robot body comprises a base 1, a shaft moving module 3, a clamping module 6 and a feeding component 7, a processing table 2 is installed at the top of the base 1, the shaft moving module 3 is installed at the side edge of the processing table 2, a lifting mechanism 4 is installed at the top of the shaft moving module 3, the clamping module 6 is installed at the bottom of the lifting mechanism 4, a vision module 26 is installed at the front end of the lifting mechanism 4, a positioning component 14 is installed at the inner side of the clamping module 6, a rear baffle 5 is arranged at the rear end of the processing table 2, a feeding component 7 is installed at the middle position of the top of the rear baffle 5, the rear baffle 5 is provided with two layers, a side baffle 18 is installed at the middle position of the two layers of the rear baffle 5, a cutting mechanism 19 is installed at the middle position of the side baffle 18, the middle position of the cutting mechanism 19 coincides with the middle position of the feeding component 7, when the intelligent wiring robot of the machine vision technology is used, wiring equipment required to be processed is directly placed on the wiring table 2, a wire rod is driven by the wire cutting mechanism 4 to pass through the front end of the wire clamping module 3, the wire clamping module 4 is clamped with the wire clamping module 4 from the front end of the wire clamping module, the wire clamping module is clamped by the wire clamping module 4, the wire clamping system is clamped at the front end of the wire clamping module 4, the wire clamping end can be processed by the wire clamping module through the wire clamping module 3, the identification and positioning is performed in the process by the vision module 26 at the top.
In this embodiment, centre gripping module 6 includes manipulator 8 and splint 10, locating component 14 is installed to the centre of manipulator 8, splint 10 is installed to the bottom of manipulator 8, double-deck rubber card strip 11 is installed to the inboard subsides of splint 10, axis of rotation 9 is installed at the top of manipulator 8, backup pad 12 is installed to the rear end of manipulator 8, pneumatic rod 13 is installed to the inboard of backup pad 12, the end and the locating component 14 part fixed connection of pneumatic rod 13, locating component 14's rear end inserts the inside of manipulator 8 and is connected with pneumatic rod 13 part, locating component 14's one end is semi-circular structure, and locating component 14's semi-circular structure inboard inlays and is equipped with the slipmat, only through the position of control centre gripping module 6, can realize functions such as clamp, connect and measure, make the structure compacter, and the degree of integration is high, has simplified the structure, and measuring process is more accurate high-efficient, avoids producing wearing and tearing to inside copper wire, concrete, can carry the inside part to the inside of centre gripping module 6 through the pay-off subassembly 7 of rear end promptly to the wire rod, and utilize this inner side of wire rod 13 part to clamp wire rod 13 part to the inside, the wire rod 13 position the wire rod is tight, and the wire rod can be fixed with the both ends through the wire rod 13, and the wire rod is fixed to the end clamp wire rod 13, and the wire rod 13 is fixed to the end through the end clamp wire rod.
This embodiment, feeding assembly 7 includes front end threading gyro wheel 17 and rear end threading gyro wheel 16, and the bottom of front end threading gyro wheel 17 and rear end threading gyro wheel 16 is all installed drive shaft 15, motor equipment is installed to the bottom of drive shaft 15, and the inside of base 1 is all imbedded to the bottom of drive shaft 15 and corresponding motor equipment, front end threading gyro wheel 17 and rear end threading gyro wheel 16 all are provided with two, and the contact is laminated each other to the side of every front end threading gyro wheel 17 or rear end threading gyro wheel 16, rubber layer is all pasted to the side of front end threading gyro wheel 17 and rear end threading gyro wheel 16, realizes the transport, tensioning and the measuring function to the wire rod through the feeding assembly 7 of rear end, and the accuracy of transport is higher, can effectively avoid taking place the phenomenon of skidding between wire rod and the gyro wheel to the extravagant condition to the wire rod, and the flexibility is higher, and feeding assembly 7 carries the wire rod through two sets of threading gyro wheels, and the in-process of carrying, is laminated through the rubber layer and the surface of wire rod of threading gyro wheel side all the time, realizes carrying wire rod through this frictional force effect.
In this embodiment, the cutting mechanism 19 includes threading sleeve 20 and arc cutting edge 21, the side welding of threading sleeve 20 installs bracing piece 25, the terminal and the side shield 18 part fixed connection of bracing piece 25, arc cutting edge 21 penetrates the inside of threading sleeve 20 from the bottom, the bottom of arc cutting edge 21 is connected with lifter plate 22, layer board 23 is installed to the bottom of lifter plate 22, electric putter 24 is installed to the bottom of layer board 23, electric putter 24's bottom embeds the inside of base 1, is provided with two sets of with the gyro wheel part to install cutting mechanism 19 in the centre of two sets of threading gyro wheels, can tighten the wire rod part that is located the centre through the rotation state of two sets of threading gyro wheels of control, and then more smooth at the in-process of follow-up cutting, improved the success rate of cutting and the accuracy of location, specific, control front end threading gyro wheel 17 is carried forward, and rear end threading gyro wheel 16 carries the wire rod to the rear end, can be in the tensioning of intermediate position this moment, and the electric putter 24 of control bottom moves down, can cut off the wire rod 21 with the arc cutting edge that moves down the top.
The embodiment also provides a working method of the intelligent wiring robot based on the machine vision technology, which uses the wiring robot body part and comprises the following steps: step one, conveying wires from the inside of a feeding assembly 7 in a penetrating manner; step two, penetrating one end of the wire rod into the clamping module 6, and positioning the conveyed length through an external control system; starting a positioning assembly 14 in the clamping module 6, and directly attaching and clamping the inner side of the positioning assembly 14 with an insulating rubber on the surface of the wire; step four, controlling the clamping module 6 to move upwards, and clamping wires by using the clamping plate 10 at the bottom; step five, cutting wires, controlling the clamping module 6 to penetrate the cut wires into the electrical equipment by utilizing the shaft moving module 3 to finish butt joint, in the process, connecting the shaft moving module 3 to an existing control system, intelligently identifying equipment placed on the processing table 2 by matching with the vision module 26 at the bottom, determining the connection point position of the wires, connecting the cut wires with the determined connection point position by utilizing the clamping module, and compacting the connected wires by utilizing the downward movement of the clamping module.
While the fundamental and principal features of the invention and advantages of the invention have been shown and described, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (10)
1. The utility model provides an intelligent wiring robot based on machine vision technique, includes wiring robot body, its characterized in that: the wiring robot body includes base (1), moves axle module (3), centre gripping module (6) and pay-off subassembly (7), processing platform (2) are installed at the top of base (1), move axle module (3) are installed to the side of processing platform (2), elevating system (4) are installed at the top of moving axle module (3), centre gripping module (6) are installed to the bottom of elevating system (4), vision module (26) are installed to the front end of elevating system (4), locating component (14) are installed to the inboard of centre gripping module (6), pay-off subassembly (5) are provided with to the rear end of processing platform (2), pay-off subassembly (7) are installed to the top intermediate position of backplate (5), backplate (5) are provided with two-layer, and the intermediate position of two-layer backplate (5) installs side shield (18), cutting mechanism (19) are installed to the intermediate position of side shield (18), the intermediate position of cutting mechanism (19) coincides with the intermediate position of pay-off subassembly (7).
2. The intelligent cabling robot based on machine vision technology of claim 1, wherein: the clamping module (6) comprises a manipulator (8) and a clamping plate (10), a positioning assembly (14) is arranged in the middle of the manipulator (8), the clamping plate (10) is arranged at the bottom of the manipulator (8), and a double-layer rubber clamping strip (11) is attached to the inner side of the clamping plate (10).
3. The intelligent cabling robot based on machine vision technology of claim 2, wherein: the top of manipulator (8) is installed axis of rotation (9), backup pad (12) are installed to the rear end of manipulator (8), pneumatic rod (13) are installed to the inboard of backup pad (12), the end and the locating component (14) part fixed connection of pneumatic rod (13).
4. The intelligent cabling robot based on machine vision technology of claim 3, wherein: the rear end of the positioning component (14) is inserted into the manipulator (8) and is connected with the pneumatic rod (13), one end of the positioning component (14) is of a semicircular structure, and an anti-slip pad is attached to the inner side of the semicircular structure of the positioning component (14).
5. The intelligent cabling robot based on machine vision technology of claim 1, wherein: the feeding assembly (7) comprises a front threading roller (17) and a rear threading roller (16), the bottoms of the front threading roller (17) and the rear threading roller (16) are respectively provided with a driving shaft (15), motor equipment is arranged at the bottom of the driving shafts (15), and the bottoms of the driving shafts (15) and the corresponding motor equipment are embedded into the base (1).
6. The intelligent cabling robot based on machine vision technology of claim 5, wherein: the front threading roller (17) and the rear threading roller (16) are both provided with two, the side edges of each front threading roller (17) or each rear threading roller (16) are mutually attached and contacted, and rubber layers are respectively attached to the side edges of the front threading roller (17) and the rear threading roller (16).
7. The intelligent cabling robot based on machine vision technology of claim 5, wherein: the cutting mechanism (19) comprises a threading sleeve (20) and an arc-shaped cutting edge (21), a supporting rod (25) is welded and mounted on the side edge of the threading sleeve (20), the tail end of the supporting rod (25) is fixedly connected with the side baffle (18) part, and the arc-shaped cutting edge (21) penetrates into the threading sleeve (20) from the bottom.
8. The intelligent cabling robot based on machine vision technology of claim 7, wherein: the bottom of arc cutting edge (21) is connected with lifter plate (22), layer board (23) are installed to the bottom of lifter plate (22), electric putter (24) are installed to the bottom of layer board (23), the inside of base (1) is embedded to the bottom of electric putter (24).
9. A working method of an intelligent wiring robot based on a machine vision technology, characterized in that the working method uses the wiring robot body part according to claim 1, comprising the steps of: step one, conveying wires from the inside of a feeding assembly (7) in a penetrating way; step two, penetrating one end of the wire rod into the clamping module (6), and positioning the conveyed length through an external control system; starting a positioning assembly (14) in the clamping module (6) to clamp the wire rod; step four, controlling the clamping module (6) to move upwards, and clamping the wire rod by using the clamping plate (10) at the bottom; fifthly, cutting the wire rod, and driving the clamping module (6) to penetrate the cut wire rod into the electric equipment by utilizing the shaft moving module (3) to finish butt joint.
10. The working method of the intelligent wiring robot based on the machine vision technology as set forth in claim 9, wherein: in the third step, the inner side of the positioning assembly (14) is directly attached to the insulating rubber on the surface of the wire rod, and the wire rod is clamped through a rubber pad attached to the inner side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310629321.7A CN116551739A (en) | 2023-05-31 | 2023-05-31 | Intelligent wiring robot based on machine vision technology and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310629321.7A CN116551739A (en) | 2023-05-31 | 2023-05-31 | Intelligent wiring robot based on machine vision technology and working method thereof |
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| Publication Number | Publication Date |
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| CN116551739A true CN116551739A (en) | 2023-08-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310629321.7A Pending CN116551739A (en) | 2023-05-31 | 2023-05-31 | Intelligent wiring robot based on machine vision technology and working method thereof |
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| CN (1) | CN116551739A (en) |
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| CN113889897A (en) * | 2021-09-30 | 2022-01-04 | 陶健 | Intelligent wiring robot based on machine vision technology and working method thereof |
| CN215968810U (en) * | 2021-10-11 | 2022-03-08 | 深圳市金伍源实业有限公司 | Lamp string clamping structure for lamp string tightening robot |
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-
2023
- 2023-05-31 CN CN202310629321.7A patent/CN116551739A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2102487A5 (en) * | 1970-08-05 | 1972-04-07 | Savoie Pierre | Flax fibre hank package - in which hanks hang from coiled tape is automatically unwound |
| US20080223972A1 (en) * | 2004-05-07 | 2008-09-18 | Enventys, Llc | Independently drawing and tensioning lines with bi-directional rotary device having two spools |
| CN204486657U (en) * | 2014-12-26 | 2015-07-22 | 芜湖金牛电气股份有限公司 | Metal wire straightening device |
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| CN115313253A (en) * | 2022-08-09 | 2022-11-08 | 李风娇 | Cable system |
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