CN208292236U - Manipulator based on Machine Vision Recognition grabs assembly equipment - Google Patents
Manipulator based on Machine Vision Recognition grabs assembly equipment Download PDFInfo
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- CN208292236U CN208292236U CN201820761001.1U CN201820761001U CN208292236U CN 208292236 U CN208292236 U CN 208292236U CN 201820761001 U CN201820761001 U CN 201820761001U CN 208292236 U CN208292236 U CN 208292236U
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- assembly
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Abstract
This application provides the manipulators based on Machine Vision Recognition to grab assembly equipment, including feeding cycle device, material device for visual identification and assembly manipulator.Feeding cycle device is used for circulation conveying material to be assembled, material device for visual identification is used to successively identify that the material to be assembled that the feeding cycle device is conveyed, assembly manipulator are used to grabbing and carrying the material to be assembled that material device for visual identification successively recognizes according to the assemble sequence of material to be assembled.The each material to be assembled conveyed on feeding cycle device is successively identified according to the assemble sequence of material to be assembled by material device for visual identification, so that assembly manipulator is successively grabbed according to assemble sequence and assembles each material to be assembled, to realize the classification of material to be assembled and grab assembling work while carrying out, therefore material to be assembled need not be classified in advance before carrying out assembling work, Classification of materials link before reducing assembling work, effectively improves production efficiency.
Description
[technical field]
This application involves automation equipment fields, more particularly to the crawl assembly of the manipulator based on Machine Vision Recognition is set
It is standby.
[background technique]
Existing automated assembling equipment is grabbed for the ease of automated assembling equipment and is filled when carrying out automatic assembling operation
With material to be assembled, generally require and Classification of materials to be assembled be delivered at automated assembling equipment so that into
It is needed before row assembling work by the cargo handling operation of Classification of materials to be assembled, is unfavorable for improving production efficiency.
[summary of the invention]
In order to effectively reduce cargo handling operation, production efficiency is improved, this application provides need not divide in advance material to be assembled
The good manipulator crawl assembly equipment based on Machine Vision Recognition that can be also normally carried out automatic assembling operation of class.
The application is implemented by the following technical solutions:
Manipulator based on Machine Vision Recognition grabs assembly equipment, comprising:
Feeding cycle device is used for circulation conveying material to be assembled；
Material device for visual identification is used to successively identify the feeding cycle dress according to the assemble sequence of material to be assembled
Set the material to be assembled conveyed；
Assembly manipulator is used to grab and carry the material to be assembled that material device for visual identification successively recognizes.
The feeding cycle device includes the first feed conveyer belt and is fed the second of conveyer belt side set on described first
It is fed conveyer belt, and the input terminal of the second feed conveyer belt makes the second confession below the output end of the first feed conveyer belt
Expect the input terminal of conveyer belt received from the material to be assembled of the first feed conveyer belt output end output, the second feed conveyer belt
Output end be located at it is described first feed conveyer belt input terminal above make the input terminal of the first feed conveyer belt received from second
It is fed the material to be assembled of the output end output of conveyer belt.
The second feed conveyer belt is equipped with several can be mobile to drive material to be assembled defeated upwards with its conveying
The baffle conveying sent.
The feeding cycle device further includes below the output end of the first feed conveyer belt for receiving first
It is fed the material to be assembled of conveyer belt output end output and is directed to the second material guiding of the input terminal of the second feed conveyer belt
Case, the second guiding that the second material guiding case is equipped with for material to be assembled to be directed on the second feed conveyer belt are oblique
Plate, the output end of the first feed conveyer belt are equipped with the third for being directed to material to be assembled in second material guiding case
Material guides case, and the third material guiding case is equipped with third and guides inclined plate.
The feeding cycle device further includes the third feed conveyer belt below the first feed conveyer belt, described
The output end of third feed conveyer belt, which is located above second material guiding case, makes third feed conveyer belt output end output
Material to be assembled can fall in second material guiding case, the input terminal of third feed conveyer belt is that material to be assembled is thrown
Put end.
The manipulator crawl assembly equipment based on Machine Vision Recognition further includes the load plate for conveying assembly load plate
Conveying device, the assembly manipulator grab the material to be assembled that material device for visual identification successively recognizes and are carried to load
Assembling work is carried out in assembly load plate on disk-transporting device.
The load plate conveying device includes at least the first load plate conveyer belt and is arranged in parallel in below the first load plate conveyer belt
The second load plate conveyer belt, and the conveying direction of the first load plate conveyer belt and the second load plate conveyer belt is on the contrary, described be based on
Machine Vision Recognition manipulator crawl assembly equipment further include two be set to the load plate one side of conveying device be used for by first carry
The assembly load plate conveyed on disk conveyer belt be carried to downwards on the second load plate conveyer belt or by the second load plate conveyer belt institute it is defeated
The assembly load plate sent is carried to the load plate lifting transfer device on the first load plate conveyer belt, and a load plate lifting transfer device upwards
For the assembly load plate conveyed on the first load plate conveyer belt to be carried to downwards the second load plate conveyer belt, another load plate lifting
Transfer device is used to the assembly load plate conveyed on the second load plate conveyer belt being carried to the first load plate conveyer belt upwards, thus
Make to assemble load plate through the carrying up and down of two load plate lifting transfer devices on the first load plate conveyer belt and the second load plate conveyer belt
Circulation conveying.
The load plate lifting transfer device includes elevation base plate, is used to drive elevation base plate or more below elevation base plate
Mobile lift drive mechanism and the load plate in the elevation base plate on horizontal carrying assembly load plate to elevation base plate
Carrying mechanism.
The load plate carrying mechanism include two be set to the elevation base plate on and be oppositely arranged load plate support frame, be set to two
It horizontal can be removed between load plate support frame and at the self-contained disk-transporting device of load plate close to or far from load plate conveying device and capable of assembling
The load plate being transported on load plate support frame picks up component and conveys dress close to or far from load plate for driving load plate to pick up component level
The carrying driver set.
It includes picking up pedestal, set on the mounting base picked up on pedestal and in the mounting base that the load plate, which picks up component,
Load plate buckle for being connected on assembly load plate, the mounting base are equipped with the buckle shifting chute extended up and down, the load plate
Buckle is movably arranged in the buckle shifting chute and can move up and down, and it further includes being set to the buckle to move that the load plate, which picks up component,
For pulling the buckle reset spring of load plate buckle upward or downward in dynamic slot, the load plate lifting transfer device is removed by load plate
The fortune mechanism clamping part that the load plate buckles when carrying assembly load plate upwards is arranged upward, and the buckle reset spring is set to institute
Load plate buckle lower section is stated to pull downward on the load plate buckle；The load plate lifting transfer device is downward by load plate carrying mechanism
The clamping part of the load plate buckle is arranged downward when carrying assembly load plate, and the buckle reset spring is set on load plate buckle
To pull up the load plate buckle, the load plate support frame, which is equipped with, to be extended and uses along the moving direction that load plate picks up component for side
In the load plate carrier of carrying assembly load plate, the load plate carrier is equipped with several load plates for extending along directional spreding and leads
To wheel.
Compared with prior art, the application has the following advantages:
The application successively identifies that feeding cycle fills according to the assemble sequence of material to be assembled by material device for visual identification
The each material to be assembled conveyed is set, assembly manipulator is enable successively to grab according to assemble sequence and is assembled each to be installed
With material, i.e., assembly manipulator can classification grabs material to be assembled automatically on feeding cycle device, to realize object to be assembled
The classification and crawl assembling work of material carry out simultaneously, therefore material to be assembled need not be classified in advance before carrying out assembling work
Good, the Classification of materials link before reducing assembling work effectively improves production efficiency.
[Detailed description of the invention]
In order to more clearly explain the technical solutions in the embodiments of the present application, make required in being described below to embodiment
Attached drawing is briefly described.
Fig. 1 is the schematic diagram one of the manipulator crawl assembly equipment based on Machine Vision Recognition；
Fig. 2 is the schematic diagram two of the manipulator crawl assembly equipment based on Machine Vision Recognition；
Fig. 3 is the schematic diagram one of feeding cycle device；
Fig. 4 is the schematic diagram two of feeding cycle device；
Fig. 5 is the schematic diagram one of load plate lifting transfer device；
Fig. 6 is the portion the A enlarged diagram of Fig. 5；
Fig. 7 is the schematic diagram two of load plate lifting transfer device；
Fig. 8 is the portion the B enlarged diagram of Fig. 7；
Fig. 9 is the structure chart one of the manipulator crawl assembly control system based on Machine Vision Recognition；
Figure 10 is the structure chart two of the manipulator crawl assembly control system based on Machine Vision Recognition.
[specific embodiment]
Manipulator based on Machine Vision Recognition as depicted in figs. 1 and 2 grabs assembly equipment, including feeding cycle device
1, material device for visual identification 3, assembly manipulator 4, load plate conveying device 2 and load plate lifting transfer device 5.
Feeding cycle device 1 is used for circulation conveying material to be assembled, as shown in Figure 3 and Figure 4, the feeding cycle device 1
Including first feed conveyer belt 11 and set on it is described first feed 11 side of conveyer belt second feed conveyer belt 12, in order to make to
Assembly material realizes circulation conveying, the second feed conveyer belt on the first feed conveyer belt 11 and the second feed conveyer belt 12
12 input terminal 121 is located at below the output end 111 of the first feed conveyer belt 11 input terminal 121 for making the second feed conveyer belt 12
Material to be assembled received from the first feed 11 output end 111 of conveyer belt output, the output end of the second feed conveyer belt 12
122 be located at it is described first feed conveyer belt 11 input terminals 112 above make the input terminal 112 of the first feed conveyer belt 11 received from
The material to be assembled that the output end 122 of second feed conveyer belt 12 exports, for the band for keeping the second feed conveyer belt 12 stable
Material to be assembled is moved to move up, the second feed conveyer belt 12 be equipped with several can with its conveying it is mobile to drive to
The baffle conveying 123 that assembly material is delivered up.The first feed conveyer belt is set to by the input terminal of the second feed conveyer belt
Enable the input terminal of the second feed conveyer belt received from the to be assembled of the first feed conveyer belt output end output below output end
Material, and the output end of the second feed conveyer belt makes the first feed above the input terminal of the first feed conveyer belt
The input terminal of conveyer belt can be received from the material to be assembled of the output end output of the second feed conveyer belt, to realize to be assembled
Circulation conveying of the material on the first feed conveyer belt and the second feed conveyer belt, to cooperate automated assembling equipment to classify automatically
Material to be assembled is grabbed, is easy to use.
The first feed is accurately transferred in order to accurately be fed the material to be assembled conveyed on conveyer belt 12 for second
On conveyer belt 11, the feeding cycle device 1 further includes defeated set on the output end 122 of the second feed conveyer belt 12 and the first feed
It send between the input terminal 112 of band 11 for the second material to be assembled for exporting of feed 12 output end 122 of conveyer belt to be directed to the
First material guide member 14 on one feed 11 input terminal 112 of conveyer belt, the first material guide member 14 are equipped with for will be to
Assembly material is directed to the first guiding inclined plate 141 on the first feed conveyer belt 11.And in order to which accurately the first feed is conveyed
It is accurately transferred on the second feed conveyer belt 12 with the material to be assembled conveyed on 11, the feeding cycle device 1 also wraps
It includes defeated for receiving the first feed 11 output end 111 of conveyer belt below the output end 111 for being set to the first feed conveyer belt 11
Material to be assembled out and be directed to the second feed conveyer belt 12 input terminal 121 second material guiding case 15, described second
Material guiding case 15 is equipped with the second guiding inclined plate 151 for being directed to material to be assembled on second feed conveyer belt 12.And
In order to which the first material to be assembled for being exported of feed conveyer belt 1 is accurately delivered in second material guiding case 15, described the
The output end 111 of one feed conveyer belt 11 is equipped with the third object for being directed to material to be assembled in second material guiding case 15
Material guiding case 16, the third material guiding case 16 are equipped with third and guide inclined plate 161.
Material to be assembled, the feeding cycle device 1 are launched to the feeding cycle device 1 for the ease of operating personnel
It further include the third feed conveyer belt 17 set on 11 lower section of the first feed conveyer belt, the third is fed the defeated of conveyer belt 17
The top that outlet 171 is located at second material guiding case 15 makes the to be assembled of third feed 17 output end 171 of conveyer belt output
Material can be fallen in second material guiding case 15, and the input terminal 172 of the third feed conveyer belt 17 is material to be assembled throwing
Put end.
In addition, it is in vertical bar that the first feed conveyer belt 11, second, which is fed conveyer belt 12 and third feed conveyer belt 17,
Shape, the first feed conveyer belt 11 and third feed conveyer belt 17 is horizontally disposed and the conveying direction of the two is identical, described the
The projection of two feed conveyer belts 12 in the horizontal plane is parallel to each other with the first feed conveyer belt 11 and third feed conveyer belt 17, from
And feeding cycle device overall structure is made to seem compact, the occupied space of equipment can be saved.
As depicted in figs. 1 and 2, material device for visual identification 3 according to the assemble sequence of material to be assembled for successively identifying
The material to be assembled that the feeding cycle device 1 is conveyed, the material device for visual identification 3 include being set to the feeding cycle
The image acquisition device 31 of the top of device 1, assembly manipulator 4 are successively known for grabbing and carrying material device for visual identification 3
The material to be assembled being clipped to.Feeding cycle is successively identified according to the assemble sequence of material to be assembled by material device for visual identification
The each material to be assembled conveyed on device, so that assembly manipulator is successively grabbed according to assemble sequence and assemble it is each to
Assembly material, i.e. assembly manipulator can classification grabs material to be assembled automatically on feeding cycle device, to realize to be assembled
The classification and crawl assembling work of material carry out simultaneously, therefore material to be assembled need not be classified in advance before carrying out assembling work
Good, the Classification of materials link before reducing assembling work effectively improves production efficiency.
As depicted in figs. 1 and 2, the load plate conveying device 2 and load plate lifting transfer device 5 are collectively formed for assembly
Manipulator circulation conveying assembles the load plate lifting transfer transportation system based on Machine Vision Recognition of load plate, load plate conveying device 2
Load plate is assembled for conveying, the assembly manipulator 4 grabs the material to be assembled that material device for visual identification 3 successively recognizes
And it is carried to the progress assembling work assembly load plate in load plate conveying device 2 Nei.The load plate conveying device 2 includes at least first
Load plate conveyer belt 21 and the second load plate conveyer belt 22 for being arranged in parallel in the lower section of the first load plate conveyer belt 21, for the ease of to assembly
The assembly load plate of assembling work, the first load plate conveyer belt 21 and second is completed in the conveying of manipulator 4 assembly load plate and recycling
The conveying direction of load plate conveyer belt 22 assembles load plate on the contrary, the first load plate conveyer belt 21 is used to convey to assembly manipulator,
The second load plate conveyer belt 22 is for recycling the assembly load plate that assembling work is completed.
As shown in Figure 1, Figure 2, shown in Fig. 5, Fig. 6, Fig. 7 and Fig. 8, the load plate lifting transfer device 5 is conveyed set on the load plate
2 side of device is used to the assembly load plate conveyed on the first load plate conveyer belt 21 being carried to the second load plate conveyer belt 22 downwards
Or the assembly load plate conveyed on the second load plate conveyer belt 22 is carried to upwards on the first load plate conveyer belt 21, it is described to be based on machine
The manipulator crawl assembly equipment of device visual identity includes two load plate lifting transfer devices 5, and a load plate lifting transfer device 5
For the assembly load plate conveyed on the first load plate conveyer belt 21 to be carried to downwards the second load plate conveyer belt 22, another load plate
Lifting transfer device 5 is used to the assembly load plate conveyed on the second load plate conveyer belt 22 being carried to the first load plate conveyer belt upwards
On 21, to make to assemble up and down carrying of the load plate by two load plate lifting transfer devices 5 in the first load plate conveyer belt 21 and second
Circulation conveying on load plate conveyer belt 22.After completing assembling work on the first load plate conveyer belt by load plate lifting transfer device
Assembly load plate from the input terminal that the output end of the first load plate conveyer belt is carried to the second load plate conveyer belt, with automatic recycling dress
The output end of assembly load plate from the second load plate conveyer belt after the recovery is carried to load plate, and by load plate lifting transfer device
On the input terminal of first load plate conveyer belt, load plate will be assembled it will be carried on the first load plate conveyer belt and be conveyed to make-up machinery again
To carry out assembling work again at hand, to be conducive to save human cost and mention without manual recovery and conveying assembly load plate
High efficiency.
As shown in Fig. 5 to Fig. 8, the load plate lifting transfer device 5 includes elevation base plate 51, is set to 51 lower section of elevation base plate
Lift drive mechanism 52 for driving elevation base plate 51 to move up and down and being set in the elevation base plate 51 is carried for horizontal
Assemble the load plate carrying mechanism 53 on load plate to elevation base plate 51.Pass through load plate carrying mechanism grasp handling the first load plate conveyer belt
Or the second assembly load plate on load plate conveyer belt, and elevation base plate is driven by lift drive mechanism and is located in elevation base plate
Load plate carrying mechanism is moved up and down to the first load plate conveyer belt or the second load plate conveyer belt, and it is defeated from the first load plate will to assemble load plate
Band is sent to be carried on the second load plate conveyer belt or be carried on the first load plate conveyer belt from the second load plate conveyer belt, meeting production makes
Use demand.
Further, in order to effectively carry assembly load plate, the load plate carrying mechanism 53 includes two set on the lifting
On substrate 51 and be oppositely arranged load plate support frame 531, be set to two load plate support frames 531 between and can level close to or far from load
Disk-transporting device 2 simultaneously can will assemble the load plate pickup component being carried on load plate support frame 531 at the self-contained disk-transporting device 2 of load plate
532 and for driving load plate to pick up the horizontal carrying driver 533 close to or far from load plate conveying device 2 of component 532.The load
It includes picking up pedestal 5321, set on the mounting base 5322 picked up on pedestal 5321 and set on the mounting base that disk, which picks up component 532,
Load plate buckle 5323 on 5322 for being connected on assembly load plate, load plate lifting transfer device 5 buckles 5323 energy by load plate
Assembly load plate is pulled from the first load plate conveyer belt or the second load plate conveyer belt firmly and is carried to load plate support frame 531
On, the mounting base 5322 is equipped with the buckle shifting chute 5322a extended up and down, and the load plate buckle 5323 is movably arranged at described
It in buckle shifting chute 5322a and can move up and down, when load plate lifting transfer device 5 is removed assembly load plate by load plate buckle 5323
When being transported on load plate support frame 531, load plate buckle 5323 is detached from assembly load plate along buckle shifting chute 5322a, and in order in load plate
Load plate buckles 5323 energy after assembly load plate is carried on load plate support frame 531 by lifting transfer device 5 by load plate buckle 5323
Effectively be detached from assembly load plate, the load plate pick up component 532 further include be set in the buckle shifting chute 5322a for upward or
The buckle reset spring 5324 of load plate buckle 5323 is pulled downward on, load plate lifting transfer device 5 will dress by load plate buckle 5323
After being carried on load plate support frame 531 with load plate, buckle reset spring stretchy load plate buckle is detached from assembly load plate.Specifically,
In order to when lift drive mechanism driving elevation base plate moves up and down, load plate buckle 5323 can will assemble that load plate is stable to be consolidated
Due on load plate support frame 531, when the load plate lifting transfer device 5 carries assembly load plate by load plate carrying mechanism 53 upwards
The clamping part 5323a of the load plate buckle 5323 is arranged upward, and the buckle reset spring 5324 is buckled set on the load plate
5323 lower sections are to pull downward on the load plate buckle 5323；The load plate lifting transfer device 5 by load plate carrying mechanism 53 to
The lower clamping part 5323a for carrying the load plate buckle 5323 when assembling load plate is arranged downward, and the buckle reset spring 5324 is set
To pull up the load plate buckle 5323 above load plate buckle 5323.In addition, when load plate buckle 5323 is detached from assembly
After load plate, load plate carrying mechanism 53 will assemble load plate when being pushed out on the first load plate conveyer belt or the second load plate conveyer belt, carry
Driver 533 drives load plate to pick up the horizontal close load plate conveying device 2 of component 532, so that the structure that load plate picks up component 532 is whole
Body is pushed out to load plate is assembled on the first load plate conveyer belt or the second load plate conveyer belt.
In order to effectively drive load plate to pick up, component 532 is horizontal close to or far from load plate conveying device 2, and the load plate lifting turns
Moving device 5 is further included the shifting sledge 54 being set between two load plate support frames 531 and can be leaned on along the sliding of shifting sledge 54 with level
Close or remote from the mobile take-up housing 55 of load plate conveying device 2, the pickup pedestal 5321 is set on mobile take-up housing 55, described to remove
Fortune driver 533 by drive mobile take-up housing 55 slide on shifting sledge 54 make load plate pick up 532 levels of component it is close or
Far from load plate conveying device 2.
The load plate support frame 531, which is equipped with, to be extended along the moving direction that load plate picks up component 532 and for carrying assembly
The load plate carrier 5311 of load plate, the load plate carrier 5311 are equipped with several load plate guiding for extending along directional spreding
Wheel 5312.It can be carried to load plate support frame 531 convenient for load plate will be assembled by setting load plate directive wheel, effectively meet and use need
It asks.
The lift drive mechanism 52 includes the lifting driving that is connected to 51 downside of elevation base plate and can move up and down
Bar 521 and for driving the lifting drive that moves up and down of lifting drive rod 521.It is driven by lifting drive rod 521
Elevation base plate moves up and down, and structure is simple, easy to use.
The bottom of the feeding cycle device 1, the load plate conveying device 2 and the load plate lifting transfer device 5 is all provided with
There are universal wheel 6 and positioning footed glass 7.Operating personnel can be made to be assembled according to production requirement by setting universal wheel and positioning footed glass to recycle
Feeding device 1, the load plate conveying device 2 and the load plate lifting transfer device 5.
The application further includes the manipulator crawl assembly control system based on Machine Vision Recognition, is applied to regard based on machine
Feel in the manipulator crawl assembly equipment of identification, so that the manipulator based on Machine Vision Recognition is grabbed assembly equipment and realize automation
Assembling work is grabbed, specifically, including feeding cycle device 1, assembly manipulator 4 and material device for visual identification 3.
Assembly manipulator 4 is electrically connected with the feeding cycle device 1, material device for visual identification 3 include respectively with circulation
Feeding device 1 and the electrical connection of assembly manipulator 4 and the identification for prestoring multiple pre-stored image information for having preset comparison sequence
Processing unit 32 and the image acquisition device 31 being electrically connected with identifying processing unit 32, described image collector 31 acquire feeding cycle
Picture signal, the identifying processing are exported to identifying processing unit 32 after the image information for the material to be assembled that device 1 is conveyed
Unit 32 is chosen corresponding pre-stored image information according to preset comparison sequence and is compared with picture signal, if comparing one
It causing, then identifying processing unit 32, which exports feed stop signal to feeding cycle device 1, makes feeding cycle device 1 shut down, and
Assembly manipulator 4 is grabbed to 4 outputting material position signal of assembly manipulator and carries corresponding material to be assembled, while described
Identifying processing unit 32 chooses next pre-stored image information as comparison according to preset comparison sequence, and assembly manipulator 4 is grabbed
It takes and carries and export feed driving signal to feeding cycle device 1 after corresponding material to be assembled and operate feeding cycle device 1
Convey material to be assembled.The image information of the material to be assembled on feeding cycle device is acquired by image acquisition device, and is passed through
Identifying processing unit chooses pre-stored image information and image acquisition device institute acquired image information according to preset comparison sequence
It is compared, assembly manipulator grasp handling is controlled when comparing consistent and assembles material to be assembled, to control make-up machinery
Hand successively grabs according to assemble sequence automatically and assembles each material to be assembled, i.e. assembly manipulator can be on feeding cycle device
Automatic classification grabs material to be assembled, thus realize the mechanized classification of material to be assembled and grab assembling work while carrying out,
Therefore material to be assembled need not be classified in advance before carrying out assembling work, the Classification of materials ring before reducing assembling work
Section, effectively improves production efficiency.
The manipulator crawl assembly control system based on Machine Vision Recognition further includes being electrically connected with assembly manipulator 4
For conveying the load plate conveying device 2 of assembly load plate, the assembly manipulator 4 grabs material to be assembled and is carried on assembly load plate
Assembling work is carried out, the load plate conveying device 2 includes the first load plate conveyer belt 21, load plate positioning mechanism 23, the inspection of the first load plate
Survey unit 24.
First load plate conveyer belt 21 is electrically connected with assembly manipulator 4, and load plate positioning mechanism 23 is set to the first load plate conveyer belt
It is electrically connected on 21 and with assembly manipulator 4, the first load plate detection unit 24 is set to defeated with the first load plate on load plate positioning mechanism 23
Band 21 and load plate positioning mechanism 23 is sent to be electrically connected, when the first load plate detection unit 24 has detected that assembly load plate is delivered to load plate and determines
Load plate positioning signal is exported to load plate positioning mechanism 23 when the mechanism 23 of position and is stopped to the output load plate conveying of the first load plate conveyer belt 21
Stop signal, load plate positioning mechanism 23 receive fixing assembling load plate after load plate positioning signal, and the first load plate conveyer belt 21 receives load plate
Stop conveying assembly load plate after conveying stop signal, and when assembly manipulator 4 completes primary complete assembly on assembly load plate
Positioning lift signal is exported to load plate positioning mechanism 23 after operation and conveys signal to the first load plate conveyer belt 21 output load plate, is carried
Disk-positioning mechanism 23 decontrols assembly load plate after receiving positioning lift signal, after the first load plate conveyer belt 21 receives load plate conveying signal
Conveying assembly load plate.It can accurately be by assembly load plate positioning conveying by the first load plate detection unit 24 and load plate positioning mechanism 23
Assembling work is carried out to assembly manipulator, effectively meets production and application demand.
The manipulator crawl assembly control system based on Machine Vision Recognition further includes based on Machine Vision Recognition
Load plate lifting transfer transport control system, making load plate conveying device 2 and load plate lifting transfer device 5, cooperation is realized to assembly jointly
Robotic circulation conveying and recycling assembly load plate, the load plate lifting transfer transport control system based on Machine Vision Recognition
Including the load plate conveying device 2, the load plate conveying device 2 further includes being arranged in parallel in 21 lower section of the first load plate conveyer belt
Second load plate conveyer belt 22, the manipulator crawl assembly control system based on Machine Vision Recognition further includes for by first
The assembly load plate conveyed on load plate conveyer belt 21 is carried on the second load plate conveyer belt 22 or will be on the second load plate conveyer belt 22
The assembly load plate conveyed is carried to the load plate lifting transfer device 5 on the first load plate conveyer belt 21, the load plate lifting transfer
Device 5 include load plate carrying mechanism 53, lift drive mechanism 52, lifting in place sensing unit 56, the second load plate detection unit 57,
Third load plate detection unit 58 and the 4th load plate detection unit 59.
Lift drive mechanism 52 is for driving load plate carrying mechanism 53 to rise or fall.
Lifting in place sensing unit 56 be electrically connected with load plate carrying mechanism 53, detect load plate carrying mechanism 53 rising or
Signal in place is gone up and down to the output of load plate carrying mechanism 53 after falling into place.
Second load plate detection unit 57 is electrically connected with lift drive mechanism 52 and load plate carrying mechanism 53 for detecting load plate
Whether there is or not assembly load plate on carrying mechanism 53, the second load plate detection unit 57 is detected when having assembly load plate on load plate carrying mechanism 53
It is driven when exporting decline driving signal to lift drive mechanism 52 and detect that arming is with load plate on load plate carrying mechanism 53 to lifting
The output of motivation structure 52 rises driving signal or the second load plate detection unit 57 detects that arming matches load plate on load plate carrying mechanism 53
When exported to lift drive mechanism 52 when rising driving signal and detecting on load plate carrying mechanism 53 arming with load plate to lifting
The output decline driving signal of driving mechanism 52, lift drive mechanism 52, which receives, rises driving signal or decline driving signal rear-guard
Dynamic load disk carrying mechanism 53 rises or falls, and the second load plate detection unit 57 detects have assembly to carry on load plate carrying mechanism 53
Signal in place is exported to load plate carrying mechanism 53 when disk, the second load plate detection unit 57, which detects on load plate carrying mechanism 53, dress
Null signals are exported to load plate carrying mechanism 53 when with load plate.
Third load plate detection unit 58 is electrically connected for detecting the first load plate conveyer belt 21 with load plate carrying mechanism 53
Or second load plate conveyer belt 22 load plate output end have assembly load plate when to load plate carrying mechanism 53 export load plate carry signal, carry
Disk carrying mechanism 53 is received after load plate carries signal, goes up and down signal in place and null signals at the same time by the first load plate conveyer belt
21 or 22 output end of the second load plate conveyer belt on assembly load plate be carried in load plate carrying mechanism 53.
4th load plate detection unit 59 is electrically connected for detecting the first load plate conveyer belt 21 with load plate carrying mechanism 53
Or second load plate conveyer belt 22 load plate input terminal arming match load plate when to load plate carrying mechanism 53 export load plate push signal, carry
Disk carrying mechanism 53 is received after load plate pushes signal, goes up and down signal in place and signal in place at the same time by load plate carrying mechanism 53
Interior assembly load plate is pushed out on the second load plate conveyer belt 22 or the first load plate conveyer belt 21.It is detected and is carried by second detection unit
Whether there is or not assembly load plates to make lift drive mechanism driving load plate carrying mechanism lifting in disk carrying mechanism, and induction is single in place in lifting
After member goes up and down signal in place to the output of load plate carrying mechanism, is detected in carrying mechanism by second detection unit and carried without assembly
Disk and detect that the load plate output end of the first load plate conveyer belt or the second load plate conveyer belt has assembly to carry by third detection unit
When disk, control load plate carrying mechanism automatically grabs assembly load plate and assembly load plate is carried in load plate carrying mechanism, by the
Two detection units detect in carrying mechanism have assembly load plate and by the 4th detection unit detect the first load plate conveyer belt or
When the load plate input terminal of second load plate conveyer belt does not assemble load plate, control load plate carrying mechanism is pushed out to first for load plate is assembled
Load plate conveyer belt or the second load plate conveyer belt, so that realizing will be complete on the first load plate conveyer belt by load plate lifting transfer device
At the assembly load plate after assembling work from the input terminal that the output end of the first load plate conveyer belt is carried to the second load plate conveyer belt,
Assemble load plate with automatic recycling, and by load plate lifting transfer device by assembly load plate after the recovery from the second load plate conveyer belt
Output end is carried on the input terminal of the first load plate conveyer belt, will be assembled load plate and is carried on the first load plate conveyer belt and carry out again
Secondary assembling work, to be conducive to save human cost and improve production efficiency without manual recovery and conveying assembly load plate.
The present embodiment working principle is as follows:
The circulation conveying of material to be assembled: material to be assembled is launched the input in third feed conveyer belt by operating personnel
End, material to be assembled guide case by second material from after the output end output of third feed conveyer belt and are directed to the second feed
The input terminal of conveyer belt, and material to be assembled is led from after the output end output of the second feed conveyer belt by first material guide member
It leads on the input terminal of the first feed conveyer belt, material to be assembled passes through third from after the output end output of the first feed conveyer belt
Material guiding case is directed to second material guiding case, and is directed to the second feed conveyer belt again by second material guiding case
On input terminal, to realize the circulation conveying of material.
The identification of material to be assembled grabs: material device for visual identification successively identifies that circulation supplies according to the assemble sequence of material
The material to be assembled that is conveyed on material device, and grab assembly manipulator and carry material device for visual identification successively to identify
The material to be assembled arrived, so that assembly manipulator is successively grabbed according to the assemble sequence of material and carried corresponding to be assembled
Material.
Assemble the circulation conveying of load plate: the first load plate conveyer belt of load plate conveying device is delivered to load plate is assembled and assembles
The corresponding position of manipulator, material to be assembled is grabbed and is carried on assembly load plate by assembly manipulator carries out assembling work,
After the assembly is completed, the first load plate conveyer belt is transported away load plate is assembled, and a load plate lifting transfer device conveys the first load plate
The assembly load plate that assembling work is completed that band is exported is carried to the input terminal of the second load plate conveyer belt, carries to recycle assembly
Disk, and the assembly load plate that the second load plate conveyer belt is exported is carried to the first load plate conveyer belt by another load plate lifting transfer device
Input terminal, so that the assembly load plate of recycling is carried on the first load plate conveyer belt to be delivered to again and make-up machinery palmistry
Corresponding position is assembled again, is then realized to assembly manipulator circulation conveying and is assembled load plate.
It is a kind of embodiment provided in conjunction with particular content as described above, does not assert the specific implementation office of the application
It is limited to these explanations.It is all approximate with the present processes, structure etc., identical, if or for being made under the application concept thereof
Dry technology deduction or replace, all should be considered as the protection scope of the application.
Claims (10)
1. the manipulator based on Machine Vision Recognition grabs assembly equipment characterized by comprising
Feeding cycle device (1) is used for circulation conveying material to be assembled；
Material device for visual identification (3) is used to successively identify the feeding cycle dress according to the assemble sequence of material to be assembled
Set the material to be assembled that (1) is conveyed；
Assembly manipulator (4) is used to grab and carry the object to be assembled that material device for visual identification (3) successively recognizes
Material.
2. the manipulator according to claim 1 based on Machine Vision Recognition grabs assembly equipment, which is characterized in that described
Feeding cycle device (1) includes the first feed conveyer belt (11) and the second confession for being set to first feed conveyer belt (11) side
Expect conveyer belt (12), and the input terminal (121) of second feed conveyer belt (12) is located at the defeated of the first feed conveyer belt (11)
Make the input terminal (121) of the second feed conveyer belt (12) received from first feed conveyer belt (11) output end below outlet (111)
(111) material to be assembled exported, the output end (122) of second feed conveyer belt (12) are located at the first feed conveying
Make the input terminal (112) of the first feed conveyer belt (11) received from the second feed conveyer belt above the input terminal (112) of band (11)
(12) material to be assembled of output end (122) output.
3. the manipulator according to claim 2 based on Machine Vision Recognition grabs assembly equipment, which is characterized in that described
Second feed conveyer belt (12) is equipped with several can be with the mobile conveying to drive material to be assembled to be delivered up of its conveying
Baffle (123).
4. the manipulator according to claim 2 based on Machine Vision Recognition grabs assembly equipment, which is characterized in that described
Feeding cycle device (1) further includes below the output end (111) of first feed conveyer belt (11) for receiving first
The material to be assembled of feed conveyer belt (11) output end (111) output and the input terminal for being directed to the second feed conveyer belt (12)
(121) second material guides case (15), and second material guiding case (15) is equipped with for material to be assembled to be directed to the
The output end (111) of the second guiding inclined plate (151) on two feed conveyer belt (12), first feed conveyer belt (11) is equipped with
Third material guiding case (16) for being directed to material to be assembled in second material guiding case (15), the third material are led
Draw case (16) equipped with third guiding inclined plate (161).
5. the manipulator according to claim 4 based on Machine Vision Recognition grabs assembly equipment, which is characterized in that described
Feeding cycle device (1) further includes third feed conveyer belt (17) below first feed conveyer belt (11), described
The output end (171) of third feed conveyer belt (17), which is located above second material guiding case (15), makes third feed conveying
The material to be assembled of band (17) output end (171) output can be fallen in second material guiding case (15), and the third feed is defeated
The input terminal (172) for sending band (17) is that material to be assembled launches end.
6. the manipulator according to claim 1 based on Machine Vision Recognition grabs assembly equipment, which is characterized in that described
Manipulator crawl assembly equipment based on Machine Vision Recognition further includes the load plate conveying device (2) for conveying assembly load plate,
The assembly manipulator (4) grabs the material to be assembled that material device for visual identification (3) successively recognize and is carried to load plate
Assembling work is carried out in assembly load plate in conveying device (2).
7. the manipulator according to claim 6 based on Machine Vision Recognition grabs assembly equipment, which is characterized in that described
Load plate conveying device (2) includes at least the first load plate conveyer belt (21) and is arranged in parallel in below the first load plate conveyer belt (21)
Second load plate conveyer belt (22), and the conveying direction phase of the first load plate conveyer belt (21) and the second load plate conveyer belt (22)
Instead, the manipulator crawl assembly equipment based on Machine Vision Recognition further includes two set on the load plate conveying device (2) one
Side be used to for the assembly load plate conveyed on the first load plate conveyer belt (21) being carried to downwards on the second load plate conveyer belt (22) or
The assembly load plate conveyed on second load plate conveyer belt (22) is carried to the load plate liter on the first load plate conveyer belt (21) upwards
It drops transfer device (5), and a load plate lifting transfer device (5) is used to carry the assembly conveyed on the first load plate conveyer belt (21)
Disk is carried to downwards on the second load plate conveyer belt (22), and another load plate lifting transfer device (5) is used for the second load plate conveyer belt
(22) the assembly load plate conveyed on is carried to upwards on the first load plate conveyer belt (21), so that assembly load plate be made to pass through two load plates
The carrying up and down of lifting transfer device (5) circulation conveying on the first load plate conveyer belt (21) and the second load plate conveyer belt (22).
8. the manipulator according to claim 7 based on Machine Vision Recognition grabs assembly equipment, which is characterized in that described
Load plate lifting transfer device (5) includes elevation base plate (51), is set to below elevation base plate (51) for driving elevation base plate (51)
It the lift drive mechanism (52) that moves up and down and is set on the elevation base plate (51) for horizontal assembly load plate of carrying to going up and down
Load plate carrying mechanism (53) on substrate (51).
9. the manipulator according to claim 8 based on Machine Vision Recognition grabs assembly equipment, which is characterized in that described
Load plate carrying mechanism (53) is set to the load plate support frame (531) on the elevation base plate (51) and being oppositely arranged including two, is set to
And it can be horizontal close to or far from load plate conveying device (2) and will to assemble load plate defeated from load plate between two load plate support frames (531)
The load plate being carried on load plate support frame (531) at device (2) is sent to pick up component (532) and for driving load plate to pick up component
(532) the horizontal carrying driver (533) close to or far from load plate conveying device (2).
10. the manipulator according to claim 9 based on Machine Vision Recognition grabs assembly equipment, which is characterized in that institute
Stating load plate and picking up component (532) includes picking up pedestal (5321), being set to the mounting base (5322) picked up on pedestal (5321) and set
It is set on the load plate buckle (5323) on the mounting base (5322) for being connected on assembly load plate, the mounting base (5322)
There is the buckle shifting chute (5322a) extended up and down, the load plate buckle (5323) is movably arranged at the buckle shifting chute (5322a)
Interior and can move up and down, it further includes being set in the buckle shifting chute (5322a) for upwards that the load plate, which picks up component (532),
Or the buckle reset spring (5324) of load plate buckle (5323) is pulled downward on, the load plate lifting transfer device (5) passes through load plate
Carrying mechanism (53) clamping part (5323a) that the load plate buckles (5323) when carrying assembly load plate upwards is arranged upward, and institute
Buckle reset spring (5324) is stated to be set to below load plate buckle (5323) to pull downward on the load plate buckle (5323)；Institute
It states load plate lifting transfer device (5) and carries the load plate buckle (5323) when assembly load plate downwards by load plate carrying mechanism (53)
Clamping part (5323a) be arranged downward, the buckle reset spring (5324) be set to the load plate buckle (5323) above with to
Upper to pull the load plate buckle (5323), the load plate support frame (531) is equipped with the mobile side that component (532) are picked up along load plate
Load plate carrier (5311) to extending and for carrying assembly load plate, the load plate carrier (5311) are equipped with several edges
The load plate directive wheel (5312) of its extending direction distribution.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820761001.1U CN208292236U (en) | 2018-05-21 | 2018-05-21 | Manipulator based on Machine Vision Recognition grabs assembly equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820761001.1U CN208292236U (en) | 2018-05-21 | 2018-05-21 | Manipulator based on Machine Vision Recognition grabs assembly equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208292236U true CN208292236U (en) | 2018-12-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820761001.1U Expired - Fee Related CN208292236U (en) | 2018-05-21 | 2018-05-21 | Manipulator based on Machine Vision Recognition grabs assembly equipment |
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| Country | Link |
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| CN (1) | CN208292236U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108584417A (en) * | 2018-05-21 | 2018-09-28 | 广东科捷龙机器人有限公司 | Manipulator based on Machine Vision Recognition captures assembly equipment |
| CN112059687A (en) * | 2020-08-17 | 2020-12-11 | 芜湖锐冠智能装备有限公司 | Automatic feeding device |
-
2018
- 2018-05-21 CN CN201820761001.1U patent/CN208292236U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108584417A (en) * | 2018-05-21 | 2018-09-28 | 广东科捷龙机器人有限公司 | Manipulator based on Machine Vision Recognition captures assembly equipment |
| CN112059687A (en) * | 2020-08-17 | 2020-12-11 | 芜湖锐冠智能装备有限公司 | Automatic feeding device |
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