CN119140460A

CN119140460A - Mechanical arm sorting device and method based on visual recognition

Info

Publication number: CN119140460A
Application number: CN202411447010.XA
Authority: CN
Inventors: 刘云维; 吴广川; 廖伟平; 王科; 张雨; 房冲云; 刘杰
Original assignee: Guangdong Hongtu Wuhan Die Casting Co ltd; Guangdong Hongtu Technology Holdings Co Ltd
Current assignee: Guangdong Hongtu Wuhan Die Casting Co ltd; Guangdong Hongtu Technology Holdings Co Ltd
Priority date: 2024-10-16
Filing date: 2024-10-16
Publication date: 2024-12-17

Abstract

The invention discloses a mechanical arm sorting device and a sorting method based on visual identification, which belong to the technical field of sorting equipment, and comprise a conveyor belt arranged along a first direction, and an identification component and a carrying component which are arranged above the conveyor belt, wherein the identification component is used for identifying the front-view gesture and the placement angle of a workpiece transported along the first direction; the handling assembly comprises a first mechanical arm and a second mechanical arm, wherein the first mechanical arm is used for carrying and clamping round structural members, the second mechanical arm is used for carrying and clamping non-round structural members, and the control assembly is used for sending the front-view gesture and the placing angle of the workpiece obtained by the identification assembly to the handling assembly and controlling the handling assembly to adjust the clamping force and the clamping angle so as to grasp and carry the workpiece. According to the invention, the control assembly selects the corresponding mechanical arms, and the clamping distance and clamping force of the two mechanical arms, the clamping angle of the two mechanical arms and the like are adjusted through the obtained front-view gesture of the workpiece, so that the accurate clamping of different workpieces is realized.

Description

Mechanical arm sorting device and method based on visual recognition

Technical Field

The invention belongs to the technical field of intelligent sorting equipment, and particularly relates to a mechanical arm sorting device and a sorting method based on visual identification.

Background

The intelligent manufacturing is a man-machine integrated intelligent system which is composed of intelligent machines and human experts, and intelligent activities such as analysis, thrust, judgment, conception, decision and the like are performed in the manufacturing process, so that semi-automatic and even full-automatic manufacturing is realized.

In artifical commodity circulation field, there are more intelligent sorting robots, and it is discerned through the two-dimensional code, then snatchs the article and deposit to setting for the station through the robot, realizes the quick transportation storage of article. Conventional sorting robots are often used for gripping and storing specific workpieces or products, such as square boxes of a set size or fixed size. However, in the actual processing and assembling process, diversified assembling requirements often exist, namely, the shape and the size of the objects to be grabbed often have differences, and the conventional mechanical arm cannot finish the grabbing work of products in different shapes.

Disclosure of Invention

Aiming at one or more of the defects or improvement demands of the prior art, the invention provides a mechanical arm sorting device based on visual identification, which is used for solving the problem that the existing sorting device cannot finish the grabbing work of products in different shapes.

To achieve the above object, the present invention provides a mechanical arm sorting device based on visual recognition, which includes:

A conveyor belt arranged in a first direction;

The identification assembly and the carrying assembly are arranged above the conveyor belt and are arranged at intervals along a first direction;

the identification component is used for identifying the front-looking gesture and the placement angle of the workpiece transported along the first direction;

the handling assembly comprises a first mechanical arm and a second mechanical arm, wherein the first mechanical arm is used for handling and clamping the round structural member, and the second mechanical arm is used for handling and clamping the non-round structural member;

and the control component is respectively in communication connection with the identification component and the carrying component, and is used for sending the formal gesture and the placement angle of the workpiece acquired by the identification component to the carrying component and controlling the carrying component to adjust the clamping force and the clamping angle so as to grasp and carry the workpiece.

As a further improvement of the invention, the first mechanical arm comprises a first installation base, a first connecting arm is arranged on the first installation base, and one end of the first connecting arm, which is away from the first installation base, is provided with a universal movable joint;

The universal movable joint is provided with clamping claws, each clamping claw comprises three clamping claws which are arranged at an angle of 120 degrees, and the three clamping claws form a circular clamping gap.

As a further improvement of the invention, a first steering arm is arranged between the universal movable joint and the clamping jaw, the clamping jaw at least comprises a first clamping jaw and a second clamping jaw, the first clamping jaw and the second clamping jaw are arranged on the first steering arm, and the clamping sizes of the first clamping jaw and the second clamping jaw are different.

As a further improvement of the invention, the second mechanical arm comprises a second installation base, a second connecting arm is arranged on the second installation base, the second installation base and the second connecting arm are rotatably arranged, a third clamping claw and a fourth clamping claw are respectively arranged on the second connecting arm, and the clamping gaps of the third clamping claw and the fourth clamping claw are different.

As a further improvement of the invention, the third clamping claw and the fourth clamping claw both comprise two clamping claws which are arranged in pairs, and a proximity switch bracket is arranged at one end of each clamping claw, which is away from each other.

The application also comprises a sorting method based on visual identification, which performs sorting identification through the mechanical arm sorting device based on visual identification, and comprises the following steps:

acquiring workpiece requirements, placing the workpieces with set models on a conveyor belt, and transporting the conveyor belt;

The recognition component acquires the front-view gesture and the placement angle of the workpiece, and transmits the front-view gesture and the swing angle of the workpiece to the control component;

the control assembly selects the mechanical arm according to the workpiece signal, controls the mechanical arm to move to the workpiece displacement path and adjusts the grabbing angle of the mechanical arm, and the mechanical arm grabs the workpiece and places the workpiece at a set station.

As a further improvement of the invention, the control assembly selects the mechanical arm according to the model of the workpiece, and specifically comprises the following steps:

The control component acquires the workpiece image information transmitted by the identification component, and judges the type of the workpiece according to the workpiece image information;

when the workpiece is a round component, the control component controls the first mechanical arm to grasp the workpiece;

when the workpiece is a rectangular or L-shaped component, the control assembly controls the second mechanical arm to grasp the workpiece.

As a further improvement of the invention, the control assembly selects the mechanical arm according to the model of the workpiece, and the method further comprises the following steps:

the control assembly acquires the size of the workpiece according to the image information of the workpiece;

When the workpiece is a circular component, the grabbing sizes of a first clamping claw and a second clamping claw of a first mechanical arm are obtained, the first clamping claw or the second clamping claw is selected according to the size of the workpiece, and the first mechanical arm rotates and enables the first clamping claw or the second clamping claw to face the direction of the workpiece;

When the workpiece is a rectangular or L-shaped component, the grabbing sizes of the third clamping jaw and the fourth clamping jaw of the second mechanical arm are obtained, the third clamping jaw or the fourth clamping jaw is selected according to the workpiece size, and the second mechanical arm rotates and enables the third clamping jaw or the fourth clamping jaw to face the direction of the workpiece.

As a further improvement of the invention, the control assembly controls the mechanical arm to move to the workpiece displacement path specifically comprises the following steps:

The vision assembly divides the conveyor belt into N transmission areas (N is more than or equal to 2) along the width direction;

The vision component acquires the position of the workpiece on the conveyor belt;

The control assembly acquires the region where the workpiece is located according to the image information of the workpiece, and controls the mechanical arm to move to the corresponding transmission region.

As a further improvement of the invention, the control assembly controls the mechanical arm to adjust the grabbing angle specifically comprises the following steps:

The control component acquires the workpiece image information transmitted by the identification component, judges the type of the workpiece according to the workpiece image information, and invokes six-view information of the workpiece according to the type of the workpiece;

the control assembly compares the workpiece front view attitude with six-view information of the workpiece to obtain the shape and the size of the workpiece in the workpiece front view attitude, and controls the mechanical arm to adjust the clamping gap so that the clamping size of the mechanical arm is matched with the workpiece size;

The control assembly compares the workpiece front view posture with six-view information of the workpiece to obtain a deflection angle of the workpiece relative to the first direction in the front view posture, and controls the mechanical arm to rotate by a corresponding angle, so that the clamping angle of the mechanical arm is identical to the deflection angle of the workpiece.

The above-mentioned improved technical features can be combined with each other as long as they do not collide with each other.

In general, the above technical solutions conceived by the present invention have the beneficial effects compared with the prior art including:

(1) According to the mechanical arm sorting device based on visual recognition, the front-view gesture and the placement angle of the workpiece are respectively obtained through the recognition component, the corresponding mechanical arm structure is selected through the control component, clamping of round or other non-round structural parts is achieved, the clamping distance and the clamping force of the two mechanical arms are adjusted through the obtained front-view gesture of the workpiece, the clamping angles of the two mechanical arms are adjusted, and the like, so that different workpieces are accurately clamped, the problem that the conventional mechanical arms cannot clamp workpieces with various special structures is avoided, the problem that the clamping instability or the rigid contact with the workpieces occurs due to overlarge or overlarge clamping force when the sorting device clamps workpieces with different sizes or shapes is avoided, and the problem that the workpieces cannot be damaged due to clamping is guaranteed.

(2) According to the mechanical arm sorting device based on visual identification, the first clamping claw and the second clamping claw are arranged on the first mechanical arm, and the third clamping claw and the fourth clamping claw are arranged on the second mechanical arm, so that the grabbing of gears with different sizes, rectangular pieces and L-shaped structural pieces is realized, and the grabbing efficiency of workpieces is greatly improved.

(3) The sorting method based on visual recognition is characterized in that a mechanical arm is adjusted to a set position in a partitioning mode of a conveying area of a conveying belt, so that the grabbing efficiency of workpieces is improved, secondly, clamping claws of different types and sizes are selected according to the types of the workpieces, so that the workpieces are accurately grabbed, stable grabbing of the workpieces is ensured, meanwhile, damage to the workpieces is avoided, meanwhile, the positioning direction and angle of the workpieces are accurately recognized through a recognition component, six-view information of the workpieces is adjusted, the clamping gap of the clamping claws is correspondingly adjusted, the problem that the clamping claws shrink too much to clamp the workpieces is avoided while the accurate matching of the clamping claws and the workpieces is ensured, the sorting efficiency of the workpieces is greatly improved, and the workpiece clamping is prevented.

Drawings

Fig. 1 is a schematic diagram of the overall structure of a mechanical arm sorting device based on visual recognition in an embodiment of the invention;

FIG. 2 is a schematic diagram of a connection structure between a first mechanical arm and a main boom in an embodiment of the present invention;

Fig. 3 is a schematic diagram of the overall structure of the second mechanical arm in the embodiment of the invention.

Like reference numerals denote like technical features throughout the drawings, in particular:

1. A conveyor belt; 2, an identification component, 3, a carrying component;

301. A first mechanical arm; 302, a second mechanical arm, 303, a main large arm, 304, a first mounting base, 305, a first connecting arm, 306, a universal movable joint, 307, a first clamping claw, 308, a second clamping claw, 309, a second mounting base, 310, a second connecting arm, 311, a third clamping claw, 312, a fourth clamping claw, 313 and a proximity switch bracket.

Detailed Description

The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.

In the description of the present invention, it should be understood that unless otherwise indicated, the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., are directional or positional relationships indicated based on the drawings, are merely for convenience of description and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the invention.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated unless otherwise indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed, mechanically connected, electrically connected, directly connected, indirectly connected through an intervening medium, or in communication between two elements or in an interaction relationship between two elements, unless otherwise explicitly specified. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

Examples:

Referring to fig. 1 to 3, a mechanical arm sorting device based on visual recognition in a preferred embodiment of the present invention includes a conveyor belt 1 arranged along a first direction, a recognition component 2 and a handling component 3 disposed above the conveyor belt 1, and the recognition component 2 and the handling component 3 are sequentially arranged at intervals along the first direction, wherein the recognition component 2 is used for recognizing a front view posture and a placement angle of a workpiece transported along the first direction, the handling component 3 is used for handling the workpiece, and includes a first mechanical arm 301 and a second mechanical arm 302, wherein the first mechanical arm 301 is used for handling and clamping a circular structural member, the second mechanical arm 302 is used for handling and clamping a non-circular structural member with at least two clamping surfaces, and a control component is respectively in communication connection with the recognition component 2 and the handling component 3 and is used for sending the front view posture and the placement angle of the workpiece acquired by the recognition component 2 to the handling component 3 and controlling the handling component 3 to adjust a clamping force and a clamping angle so as to grasp and carry the workpiece.

In particular, conventional material sorting devices are typically used for logistic handling, which is typically performed on articles in a package box or cushioning foam, and the articles are typically packaged in a rectangular parallelepiped configuration, which allows conventional robotic arms to apply pressure to the articles to some extent without damaging the articles as long as they are gripped. In contrast, the application is mainly used for conveying parts of large equipment, vehicles or instruments and equipment, and the like, so that an operator or an intelligent robot can conveniently install the parts. In the actual grabbing process, the device is mainly used for grabbing and installing gears, mechanical parts and the like, is mainly a metal structural member or a hard plastic structural member, is basically a special-shaped structural member according to the shape and the size of a workpiece, and has no elasticity. Therefore, the conventional sorting manipulator cannot be used for grabbing workpieces, cannot adapt to grabbing of various special-shaped structural members on one hand, cannot control grabbing force on the other hand, and is easy to damage the workpieces.

According to the mechanical arm sorting device based on visual recognition, the front-view gesture and the placement angle of the workpiece are respectively obtained through the recognition component 2, the corresponding mechanical arm structure is selected through the control component, clamping of round or other non-round structural parts is achieved, the clamping distance and the clamping force of the two mechanical arms are adjusted through the obtained front-view gesture of the workpiece, the clamping angles of the two mechanical arms are adjusted, and the like, so that different workpieces are accurately clamped, the problem that the conventional mechanical arms cannot clamp various workpieces with special structures is avoided, the problem that when the sorting device clamps workpieces with different sizes or shapes, the clamping is unstable or the problem that the sorting device is in rigid contact with the workpieces due to overlarge or overlarge clamping force is avoided, and the problem that the workpieces cannot be damaged due to clamping is guaranteed.

Specifically, the first direction in the present application refers to the arrangement direction of the conveyor belt 1, i.e., the conveyance direction of the conveyor belt 1. The front view posture of the workpiece refers to the posture of the workpiece placed on the conveyor belt 1 toward the recognition assembly 2 in the present application, i.e., the recognition assembly 2 is mainly used for recognizing the shape and posture of the workpiece vertically upward. Specifically, when the workpiece is a gear or other circular structure, the workpiece is generally circular in front view, and is grasped by the first mechanical arm 301. When the workpiece is a structural member such as a rectangle or an L-shape, the workpiece is required to be grasped by the second mechanical arm 302 when the workpiece is in a rectangular or L-shape in front view.

Further, as a preferred embodiment of the present application, the first mechanical arm 301 and the second mechanical arm 302 are both installed through a mounting frame, the mounting frame is a rectangular hollow aluminum alloy frame, a fixing cushion block is disposed at a mounting mating surface of the mounting frame and the first mechanical arm 301 or the second mechanical arm 302, each end of the fixing cushion block is connected with a frame body of the mounting frame, and the first mechanical arm 301 or the second mechanical arm 302 is installed on the fixing cushion block.

Further preferably, the first mechanical arm 301 and the second mechanical arm 302 are mainly used for moving and vertically grabbing in a plane, and the moving range is limited. Therefore, a main large arm 303 is further arranged between the fixed cushion block and the first mechanical arm 301 or the second mechanical arm 302, the main large arm 303 is connected with the first mechanical arm 301 or the second mechanical arm 302 through a spherical joint, and the other end of the main large arm 303 is installed on the fixed cushion block. The main big arm 303 is hollow and is composed of a plurality of groups of big arms which are 120 degrees, so that the bearing capacity of the main big arm 303 can be ensured, the weight of the main big arm 303 can be reduced, and the movement stability of the carrying assembly 3 can be improved. Meanwhile, the main large arm 303 is connected with a servo motor through a flange plate, and the servo motor is arranged on a fixed cushion block so as to drive the main large arm 303 to move, so that the position of the first mechanical arm 301 or the second mechanical arm 302 is adjusted.

Further, as a preferred embodiment of the present application, the first mechanical arm 301 of the present application includes a first mounting base 304, the first mounting base 304 is connected to the main boom 303, a first connecting arm 305 is provided on the first mounting base 304, one end of the first connecting arm 305 facing away from the first mounting base 304 is provided with a universal movable joint 306, and a clamping jaw is provided on the universal movable joint 306, the clamping jaw includes three clamping jaws disposed at 120 ° with each other, and the three clamping jaws form a circular clamping gap for capturing gears.

Still preferably, a first steering arm is further disposed between the universal movable joint 306 and the clamping jaw, the clamping jaw at least comprises a first clamping jaw 307 and a second clamping jaw 308, the first clamping jaw 307 and the second clamping jaw 308 are both disposed on the first steering arm, the first clamping jaw 307 and the second clamping jaw 308 have the same structure, and the clamping sizes of the first clamping jaw 307 and the second clamping jaw 308 are different. In the actual grabbing process, because the size difference of gears with different types and sizes is large, the single clamping claw is difficult to clamp gears with all types and sizes, so the application correspondingly arranges the first clamping claw 307 and the second clamping claw 308 on the first mechanical arm 301, and when the gears with the corresponding types and sizes need to be grabbed, the first steering arm is driven to rotate through the universal movable joint 306, so that the first clamping claw 307 or the second clamping claw 308 faces the gears, and the grabbing of the gears is completed.

Further preferably, the inner sides of the clamping jaws of the clamping jaw are correspondingly provided with racks, and the racks are used for being meshed with the surfaces of the gears so as to improve the stability of the clamping jaw in grabbing the gears. Preferably, the first clamping jaw 307 and the second clamping jaw 308 in the present application are arranged in different directions of the first steering arm, so that they do not interfere with each other when the first clamping jaw 307 or the second clamping jaw 308, respectively, is used.

Still preferably, the second mechanical arm 302 in the present application includes a second mounting base 309, where the second mounting base 309 is also connected to the main boom 303, a second connecting arm 310 is disposed on the second mounting base 309, a third clamping jaw 311 and a fourth clamping jaw 312 are disposed on the second connecting arm 310 and respectively, the third clamping jaw 311 and the fourth clamping jaw 312 have the same structure, and the clamping gap between the third clamping jaw 311 and the fourth clamping jaw 312 is different. The third clamping jaw 311 and the fourth clamping jaw 312 are used for clamping rectangular or L-shaped or other workpieces, and the sizes of different workpieces are greatly different from those of the gear, so that the application is provided with the third clamping jaw 311 and the fourth clamping jaw 312 with different clamping gaps so as to clamp the workpieces with different sizes.

Further preferably, the third holding claw 311 and the fourth holding claw 312 in the present application each include a pair of holding claws, and both holding claws can be used to clamp a workpiece. Meanwhile, the two clamping jaws are respectively provided with a proximity switch support 313 at one end which is away from each other, and the proximity switch supports 313 are used for abutting against the side face of the workpiece after the clamping jaws clamp the surface of the workpiece, so that stable clamping of the workpiece is realized.

Further, as an alternative embodiment of the present application, a third mechanical arm may be further provided, and the third mechanical arm is mainly used for grabbing and carrying the workpieces packaged in a set, so as to transport the workpieces required for assembly to a set processing station in a set manner.

Further, aiming at the mechanical arm sorting device based on visual identification, the application correspondingly comprises a sorting method based on visual identification, which comprises the following steps:

acquiring workpiece requirements, placing the workpieces with set models on a conveyor belt 1, and conveying the conveyor belt 1;

The recognition component 2 acquires the front-looking gesture and the placing angle of the workpiece, and the recognition component 2 transmits the front-looking gesture and the swinging angle of the workpiece to the control component;

The sorting method based on visual recognition is characterized in that the model and the state of a workpiece are obtained through a control assembly, the mechanical arm is correspondingly selected, the clamping gap size and the grabbing angle of the mechanical arm are adjusted, and the workpiece is prevented from being damaged while being accurately grabbed.

Further, as a preferred embodiment of the present application, the control assembly of the present application selects the mechanical arm according to the model of the workpiece, specifically including the following steps:

The control component acquires the workpiece image information transmitted by the identification component 2, and judges the type of the workpiece according to the workpiece image information;

When the workpiece is a circular member, the control assembly controls the first mechanical arm 301 to grasp the workpiece;

When the workpiece is a rectangular or L-shaped member, the control assembly controls the second robotic arm 302 to grasp the workpiece.

Specifically, when the workpiece is in a gear structure, the first mechanical arm 301 moves the first mechanical arm 301 to a position above the workpiece displacement path by selecting the first gripper 307 or the second gripper 308 with corresponding dimensions, and the first mechanical arm 301 drops and grips the gear by acquiring the conveying speed of the workpiece. When the workpiece is a rectangular or L-shaped member, the workpiece clamp point location is obtained by adjusting the size of the workpiece in the standard state and clamping the center of gravity, and then the second mechanical arm 302 is moved to the position above the workpiece displacement path, and the second mechanical arm 302 falls down and clamps the workpiece.

Further preferably, the control assembly selects the mechanical arm according to the model of the workpiece, and further comprises the following steps:

When the workpiece is a circular member, capturing sizes of a first clamping jaw 307 and a second clamping jaw 308 of the first mechanical arm 301 are obtained, the first clamping jaw 307 or the second clamping jaw 308 is selected according to the size of the workpiece, and the first mechanical arm 301 rotates and enables the first clamping jaw 307 or the second clamping jaw 308 to face the direction of the workpiece;

When the workpiece is a rectangular or L-shaped member, the grabbing sizes of the third clamping jaw 311 and the fourth clamping jaw 312 of the second mechanical arm 302 are obtained, the third clamping jaw 311 or the fourth clamping jaw 312 is selected according to the workpiece size, and the second mechanical arm 302 rotates and enables the third clamping jaw 311 or the fourth clamping jaw 312 to face the direction of the workpiece.

Further, as a preferred embodiment of the present application, the control assembly of the present application controls the movement of the mechanical arm to the workpiece displacement path specifically includes the following steps:

the vision component divides the conveyor belt 1 into N transmission areas (N is more than or equal to 2) along the width direction;

The vision component acquires the position of the workpiece on the conveyor belt 1;

In the actual clamping process, since the mechanical arm is arranged beside the conveyor belt 1, in order to ensure high-speed movement and clamping of the mechanical arm, a clamping area is generally defined on the conveyor belt 1, and then the clamping area is divided into a plurality of transmission areas, so that the mechanical arm can conveniently and accurately move to a set clamping position at a high speed, and the workpiece can be conveniently clamped.

Further preferably, as a preferred embodiment of the present application, the control module in the present application controls the mechanical arm to adjust the grabbing angle specifically includes the following steps:

The control component acquires the workpiece image information transmitted by the identification component 2, judges the type of the workpiece according to the workpiece image information, and invokes six-view information of the workpiece according to the type of the workpiece;

Because the workpiece is not a box body structure in the traditional logistics and may be of a special-shaped structure, the placing posture of the workpiece on the conveyor belt 1 can influence the clamping of the mechanical arm on the workpiece, based on the six-view information of the workpiece is correspondingly arranged, the placing inclination angle state of the workpiece is acquired, the optimal clamping position of the workpiece in any placing posture is obtained, and the position and the clamping angle of the mechanical arm are correspondingly adjusted, so that the workpiece can be accurately clamped.

Specifically, matching the clamping size of the mechanical arm and the workpiece size means that the gap between the clamping claws of the mechanical arm is 1-10 mm larger than the workpiece size, and when the clamping claws of the mechanical arm fall on two sides of the workpiece, the workpiece can be clamped by slightly adjusting the clamping force of the clamping claws, and damage to the workpiece caused by overlarge clamping force is avoided.

The sorting method based on visual recognition provided by the application has the advantages that the mechanical arm is adjusted to the set position in a zoning way through the transmission area of the conveyor belt 1, so that the grabbing efficiency of workpieces is improved, secondly, the clamping claws of different types and sizes are selected according to the types of the workpieces, so that the workpieces are accurately grabbed, the workpieces are ensured to be grabbed stably, meanwhile, the damage to the workpieces is avoided, meanwhile, the positioning direction and angle of the workpieces are accurately recognized through the recognition component 2, and six-view information of the workpieces is adjusted, so that the clamping gap of the clamping claws is correspondingly adjusted, the problem that the clamping claws are excessively contracted to damage the workpieces is avoided while the accurate matching of the clamping claws and the workpieces is ensured, the sorting efficiency of the workpieces is greatly improved, and the workpiece clamping damage is avoided.

It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.

Claims

1. Mechanical arm sorting device based on visual identification, characterized by comprising:

A conveyor belt arranged in a first direction;

2. The mechanical arm sorting device based on visual recognition according to claim 1, wherein the first mechanical arm comprises a first installation base, a first connecting arm is arranged on the first installation base, and a universal movable joint is arranged at one end of the first connecting arm, which is away from the first installation base;

3. The mechanical arm sorting device based on visual recognition according to claim 2, wherein a first steering arm is further arranged between the universal movable joint and the clamping jaw, the clamping jaw at least comprises a first clamping jaw and a second clamping jaw, the first clamping jaw and the second clamping jaw are both arranged on the first steering arm, and clamping sizes of the first clamping jaw and the second clamping jaw are different.

4. The mechanical arm sorting device based on visual identification according to claim 1, wherein the second mechanical arm comprises a second installation base, a second connecting arm is arranged on the second installation base, the second installation base and the second connecting arm are rotatably arranged, a third clamping claw and a fourth clamping claw are respectively arranged on the second connecting arm, and clamping gaps of the third clamping claw and the fourth clamping claw are different.

5. The mechanical arm sorting device based on visual recognition according to claim 4, wherein the third clamping jaw and the fourth clamping jaw comprise two pairs of clamping jaws, and a proximity switch bracket is arranged at one end, away from each other, of each clamping jaw.

6. A sorting method based on visual recognition, which performs sorting recognition by the mechanical arm sorting device based on visual recognition according to any one of claims 1 to 5, comprising the steps of:

7. The vision-based sorting method of claim 6, wherein the control assembly selects the mechanical arm according to the model of the workpiece, comprising the steps of:

8. The vision-based sorting method of claim 7, wherein the control assembly selects the robotic arm according to the model of the workpiece further comprising the steps of:

9. The vision-based sorting method of claim 6, wherein the control assembly controlling the movement of the robotic arm to the workpiece displacement path comprises the steps of:

10. The vision-recognition-based sorting method of claim 6, wherein the control assembly controlling the robotic arm to adjust the grasping angle specifically comprises the steps of: