CN212146487U - Brick system is picked up to robot vision - Google Patents
Brick system is picked up to robot vision Download PDFInfo
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- CN212146487U CN212146487U CN202020836597.4U CN202020836597U CN212146487U CN 212146487 U CN212146487 U CN 212146487U CN 202020836597 U CN202020836597 U CN 202020836597U CN 212146487 U CN212146487 U CN 212146487U
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Abstract
The utility model discloses a robot vision brick picking system, which comprises a robot arm arranged between a stacking area and a waste material placing area on one side of a blank car track; the brick body grabbing mechanism is connected to the robot arm and driven by the robot arm to complete positioning, grabbing and moving of finished refractory bricks; the blank skin detection mechanism is arranged beside the robot arm and used for detecting whether the finished refractory brick is blank or not; and the control cabinet is used for controlling the robot arm, the brick body grabbing mechanism and the blank skin measuring mechanism to work. The utility model has the advantages of simple and convenient installation and layout, high working efficiency and stable operation; the automatic carrying and stacking of the refractory bricks are easily realized, the number of workers and labor intensity in a stacking workshop are greatly reduced, 24-hour uninterrupted work is realized, and the stacking efficiency is improved; realize the mechanization and the automation that the empty skin of resistant firebrick detected, improve the efficiency that the empty skin of resistant firebrick detected greatly, can improve the accuracy that detects simultaneously, guarantee that product quality is qualified.
Description
Technical Field
The utility model belongs to the technical field of resistant firebrick production technique and specifically relates to a brick system is picked up to robot vision that can carry out empty skin detection.
Background
In the existing firebrick processing enterprises, the finished firebricks are usually picked up manually by workers; the worker places corresponding wooden trays in a designated area according to the types and the quantity of the refractory bricks on the pushed blank car, holds a small hammer to knock the centers of the refractory bricks one by one, and judges whether the refractory bricks are empty according to experience through sound; after the detection, qualified refractory bricks are manually conveyed to a wooden tray for stacking, and if the refractory bricks are unqualified, the refractory bricks are conveyed to a waste placement area, and the operation is repeated until all refractory bricks on the blank car are completely picked up. The whole process needs a lot of manual participation links, the labor intensity of workers is high, complaints are easy to occur, and the quality of product detection is easily influenced by human factors; in addition, the temperature in the firebrick production workshop is higher, and especially in summer, many workers are difficult to bear high temperature, so that the production cannot be normally carried out.
Disclosure of Invention
An object of the utility model is to provide a brick system is picked up to robot vision can realize automatic detection and pile up neatly and be able to bear or endure firebrick.
In order to achieve the above purpose, the utility model can adopt the following technical proposal:
the utility model discloses a robot vision brick picking system, which comprises a robot arm arranged between a stacking area and a waste material placing area on one side of a blank car track; the brick body grabbing mechanism is connected to the robot arm and driven by the robot arm to complete positioning, grabbing and moving of finished refractory bricks; the blank skin detection mechanism is arranged beside the robot arm and used for detecting whether the finished refractory brick is blank or not; and the control cabinet is used for controlling the robot arm, the brick body grabbing mechanism and the blank skin measuring mechanism to work.
The robot arm is four-axis arm.
The brick body grabbing mechanism is composed of a brick body grabbing portion and a vision collecting portion connected to the brick body grabbing portion.
The brick body snatchs the portion including connect in mounting substrate on the robot arm the vertical fixation has the spliced pole on mounting substrate's the bottom surface, the lower extreme of spliced pole link firmly with the parallel suction head mounting panel of mounting substrate, the equipartition has a plurality of suction cups of snatching of taking vacuum generator on the suction head mounting panel.
The vision acquisition part comprises a camera fixing plate fixedly connected with the bottom surface of the mounting substrate, the camera fixing plate extends outwards to form the mounting substrate, a shooting camera with a distance measuring sensor and a light source mounting plate with an annular structure are fixedly connected with the extending end of the camera fixing plate, the central axis of the light source mounting plate is consistent with the axial direction of the grabbing sucker, and the shooting end of the shooting camera is downwards arranged on the central axis of the light source mounting plate; the bottom surface of the light source mounting plate is provided with an annular light source lamp in a matching way, and the top surface of the light source mounting plate is provided with a camera protective cover with an arc-shaped structure.
The empty skin measuring mechanism comprises a supporting frame fixed in the motion range of the robot arm, a bearing plate is horizontally arranged at the top of the supporting frame, a slide way is arranged on the bearing plate, a supporting plate longitudinally penetrates through the slide way, and a horizontal cylinder for pushing the supporting plate to horizontally slide along the slide way is arranged on the bearing plate; the support plate is provided with a pair of horizontal connecting plates which are respectively positioned at the upper side and the lower side of the bearing plate, a first guide rod cylinder which faces downwards vertically is arranged on the lower surface of the horizontal connecting plate which is positioned above the bearing plate, the lower end of the first guide rod cylinder is provided with an upper measuring head for detecting refractory bricks, a second guide rod cylinder which is coaxial with the first guide rod cylinder is arranged on the upper surface of the horizontal connecting plate which is positioned below the bearing plate, and the upper end of the second guide rod cylinder is provided with a lower measuring head for detecting refractory bricks.
The utility model discloses the advantage lies in that the installation is laid portably, and work efficiency is high, and the operation is stable. An automatic robot arm is arranged beside a brick picking and stacking area of a refractory brick production line, and a special brick body grabbing mechanism for refractory bricks is arranged for the robot arm, so that automatic carrying and stacking of refractory bricks are easily realized, the number of workers and labor intensity in a stacking workshop are greatly reduced, uninterrupted work in 24 hours is realized, and stacking efficiency is improved; in addition, the empty skin mechanism of survey that the configuration set up by robot arm can realize the mechanization and the automation that the empty skin of firebrick detected, improves the efficiency that the empty skin of firebrick detected greatly, can improve the accuracy that detects simultaneously, guarantees that product quality is qualified.
Drawings
Fig. 1 is a schematic diagram of the arrangement structure of the present invention.
Fig. 2 is a schematic structural view of the brick grasping mechanism in fig. 1.
Fig. 3 is a perspective view of fig. 2.
Fig. 4 is a plan view of the visual collection unit of fig. 2.
Fig. 5 is a schematic structural diagram of the empty skin measuring mechanism in fig. 1.
Fig. 6 is a perspective view of fig. 5.
Detailed Description
The embodiments of the present invention will be described in detail with reference to the accompanying drawings, which are implemented on the premise of the technical solution of the present invention, and the detailed embodiments and the specific operation procedures are given, but the scope of the present invention is not limited to the following embodiments.
As shown in fig. 1, the robot vision brick picking system of the present invention comprises a robot arm 1, wherein the robot arm 1 can adopt a four-axis mechanical arm, is arranged at one side of a blank car track 2, and is located between a stacking area 3 and a waste material placing area 4; a brick body grabbing mechanism is connected to the robot arm 1 and is driven by the robot arm 1 to grab, carry and stack finished refractory bricks; and an empty skin measuring mechanism for detecting whether the finished refractory bricks are empty or not and a control cabinet 5 for controlling the robot arm 1, the brick body grabbing mechanism and the empty skin measuring mechanism to work are arranged beside the robot arm 1.
Specifically, as shown in fig. 2 to 4, the brick body gripping mechanism is composed of a brick body gripping part and a vision collecting part connected to the brick body gripping part. The brick body portion of snatching is including connecting mounting substrate 6 on robot arm 1, and the vertical fixation has spliced pole 7 on mounting substrate 6's bottom surface, and the lower extreme of spliced pole 7 links firmly the suction head mounting panel 8 parallel with mounting substrate 6, and the equipartition has a plurality of suction cups 9 that snatch of taking vacuum generator on the suction head mounting panel 8. The vision acquisition part comprises a camera fixing plate 10 fixedly connected with the bottom surface of the mounting substrate 6, the camera fixing plate 10 extends outwards to form the mounting substrate 6, a shooting camera 11 with a distance measuring sensor and a light source mounting plate 12 with an annular structure are fixedly connected with the extending end of the camera fixing plate 10, the central axis of the light source mounting plate 12 is consistent with the axial direction of the grabbing sucker 9, the shooting end of the shooting camera 11 faces downwards, and the shooting camera is longitudinally arranged on the central axis of the light source mounting plate 12; the bottom surface of the light source mounting plate is provided with an annular light source lamp 13 in a matched mode, the top surface of the light source mounting plate is provided with a camera protection cover 14 of an arc-shaped structure, and the camera 11 with the distance measuring sensor is used for achieving visual collection of the robot arm 1 all around, so that the whole brick grabbing mechanism is moved and positioned.
As shown in fig. 5 and 6, the empty skin measuring mechanism comprises a support frame 15 fixed in the motion range of the robot arm 1, a support plate 16 is horizontally arranged at the top of the support frame 15, a slide way 17 is arranged on the support plate 16, a support plate 18 is longitudinally arranged in the slide way 17 in a penetrating manner, and a horizontal cylinder 19 for pushing the support plate 18 to horizontally slide along the slide way 17 is arranged on the support plate 16; a pair of horizontal connecting plates 20 respectively positioned at the upper side and the lower side of the bearing plate 16 are arranged on the supporting plate 18, a first guide rod cylinder 21 which is vertically downward is arranged on the lower surface of the horizontal connecting plate 20 positioned above the bearing plate 16, an upper measuring head 22 for detecting refractory bricks is arranged at the lower end of the first guide rod cylinder 21, a second guide rod cylinder 23 which is coaxial with the first guide rod cylinder 21 is arranged on the upper surface of the horizontal connecting plate 20 positioned below the bearing plate 16, a lower measuring head 24 for detecting refractory bricks is arranged at the upper end of the second guide rod cylinder 23, and the lower measuring head 24 is adaptive to and corresponding to the upper measuring head 22 and can pass through the slideway 17; go up gauge head 22 and lower gauge head 24 for the gauge head of the special flaw detector of resistant firebrick, the sound wave transmitting terminal that is about to the special flaw detector of resistant firebrick is installed on first guide arm cylinder 21 as last gauge head 22, install the sound wave receiving terminal on second guide arm cylinder 23 as lower gauge head 24, thereby can be accurate through last gauge head 22 and lower gauge head 24, it is quick, whether the efficient detects the empty skin of resistant firebrick, compare in the empty skin condition that original artifical expense five seconds detected a resistant firebrick only need spend 2~3 seconds just can accomplish empty skin and detect, its check-out time shortens greatly, and the work efficiency is improved.
The utility model discloses a work flow as follows:
firstly, a blank vehicle 25 fully loaded with finished refractory bricks moves to the side of a robot arm 1 along a blank vehicle track 2; then the robot arm 1 is controlled to work through the control cabinet 5, and the brick body grabbing mechanism is moved to be right above a first refractory brick on the blank vehicle 25; then the robot arm 1 adjusts the position of the brick body grabbing mechanism according to the data collected by the vision collecting part until the robot arm moves to the position where the lower end surface of the grabbing sucker 9 is attached to the upper surface of the first refractory brick; and then the grabbing sucker 9 is controlled to suck and fix the refractory bricks, and the moving value of the refractory bricks is detected on the blank sheet mechanism through the robot arm 1.
When the refractory bricks are accurately moved to the detection station of the blank skin detection mechanism, the gripping sucker 9 loosens the refractory bricks, and the refractory bricks are placed at the corresponding position of the bearing plate 16 of the blank skin detection mechanism and can be moved away by the driving of the robot arm 1; at the moment, the blank skin measuring mechanism works, and the supporting plate 18 moves to the center of the upper surface and the lower surface of the refractory brick, which is just opposite to the upper measuring head 22 and the lower measuring head 24, under the pushing action of the horizontal cylinder 19; then under the push of the first guide rod cylinder 21 and the second guide rod cylinder 23, the upper measuring head 22 and the lower measuring head 24 clamp the brick surface, then the special flaw detector for the refractory brick integrated in the control cabinet 5 is started, the waveform diagram of the inner core of the refractory brick is displayed according to the ultrasonic principle, and whether the brick is empty or not is automatically judged according to the shape of the waveform diagram.
If the refractory bricks are qualified, the robot arm 1 drives the brick body grabbing mechanism to grab the refractory bricks again and convey the refractory bricks to the stacking area 3 to be placed in order; if it is unqualified to be able to bear or endure firebrick detection, then place district 4 with it transport to the waste material in, the transport of a firebrick has just been accomplished this moment, detect and the stack, can continue to carry out the operation of next firebrick, so circulate and can carry out the operation of next blank car 25 until the whole completion side of picking up the brick of the firebrick in this blank car 25, compare and pick up a brick with artifical every 5 seconds, adopt this system on average every 2.5 seconds just can pick up a brick, can not shut down work for 24 hours simultaneously, the brick picking up efficiency has been promoted greatly, and labor intensity is lightened, the liberation labour, the automated development of the firebrick production trade is promoted.
Claims (6)
1. The utility model provides a brick system is picked up to robot vision which characterized in that: comprises that
The robot arm is arranged between the stacking area and the waste material placing area on one side of the blank car track;
the brick body grabbing mechanism is connected to the robot arm and driven by the robot arm to complete positioning, grabbing and moving of finished refractory bricks;
the blank skin detection mechanism is arranged beside the robot arm and used for detecting whether the finished refractory brick is blank or not; and
and the control cabinet is used for controlling the robot arm, the brick body grabbing mechanism and the blank skin measuring mechanism to work.
2. The robotic visual tile picking system of claim 1, wherein: the robot arm is four-axis arm.
3. The robot-vision brick picking system of claim 1 or 2, wherein: the brick body grabbing mechanism is composed of a brick body grabbing portion and a vision collecting portion connected to the brick body grabbing portion.
4. The robotic visual tile picking system of claim 3, wherein: the brick body snatchs the portion including connect in mounting substrate on the robot arm the vertical fixation has the spliced pole on mounting substrate's the bottom surface, the lower extreme of spliced pole link firmly with the parallel suction head mounting panel of mounting substrate, the equipartition has a plurality of suction cups of snatching of taking vacuum generator on the suction head mounting panel.
5. The robotic visual tile picking system of claim 4, wherein: the vision acquisition part comprises a camera fixing plate fixedly connected with the bottom surface of the mounting substrate, the camera fixing plate extends outwards to form the mounting substrate, a shooting camera with a distance measuring sensor and a light source mounting plate with an annular structure are fixedly connected with the extending end of the camera fixing plate, the central axis of the light source mounting plate is consistent with the axial direction of the grabbing sucker, and the shooting end of the shooting camera is downwards arranged on the central axis of the light source mounting plate; the bottom surface of the light source mounting plate is provided with an annular light source lamp in a matching way, and the top surface of the light source mounting plate is provided with a camera protective cover with an arc-shaped structure.
6. The robot-vision brick picking system of claim 1 or 2, wherein: the empty skin measuring mechanism comprises a supporting frame fixed in the motion range of the robot arm, a bearing plate is horizontally arranged at the top of the supporting frame, a slide way is arranged on the bearing plate, a supporting plate longitudinally penetrates through the slide way, and a horizontal cylinder for pushing the supporting plate to horizontally slide along the slide way is arranged on the bearing plate; the support plate is provided with a pair of horizontal connecting plates which are respectively positioned at the upper side and the lower side of the bearing plate, a first guide rod cylinder which faces downwards vertically is arranged on the lower surface of the horizontal connecting plate which is positioned above the bearing plate, the lower end of the first guide rod cylinder is provided with an upper measuring head for detecting refractory bricks, a second guide rod cylinder which is coaxial with the first guide rod cylinder is arranged on the upper surface of the horizontal connecting plate which is positioned below the bearing plate, and the upper end of the second guide rod cylinder is provided with a lower measuring head for detecting refractory bricks.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020836597.4U CN212146487U (en) | 2020-05-19 | 2020-05-19 | Brick system is picked up to robot vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020836597.4U CN212146487U (en) | 2020-05-19 | 2020-05-19 | Brick system is picked up to robot vision |
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| Publication Number | Publication Date |
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| CN212146487U true CN212146487U (en) | 2020-12-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202020836597.4U Active CN212146487U (en) | 2020-05-19 | 2020-05-19 | Brick system is picked up to robot vision |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113911755A (en) * | 2021-10-26 | 2022-01-11 | 安徽海螺暹罗耐火材料有限公司 | Automatic pile up neatly system of breaking a jam of finished product is able to bear or endure firebrick |
| CN114280085A (en) * | 2021-12-27 | 2022-04-05 | 中国核工业二四建设有限公司 | Automatic welding line ray detection equipment and detection method |
-
2020
- 2020-05-19 CN CN202020836597.4U patent/CN212146487U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113911755A (en) * | 2021-10-26 | 2022-01-11 | 安徽海螺暹罗耐火材料有限公司 | Automatic pile up neatly system of breaking a jam of finished product is able to bear or endure firebrick |
| CN114280085A (en) * | 2021-12-27 | 2022-04-05 | 中国核工业二四建设有限公司 | Automatic welding line ray detection equipment and detection method |
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