阅读说明：本技术 一种基于机器视觉的气动夹具控制系统 (Pneumatic clamp control system based on machine vision ) 是由 曾金祥 于 2019-11-19 设计创作，主要内容包括：本发明公开了一种基于机器视觉的气动夹具控制系统,包括MCU、摄像头、旋转驱动机构、吸附控制机构和显示屏；摄像头、旋转驱动机构、吸附控制机构和显示屏均与MCU相连；摄像头设置在气动夹具的吸盘的底部；旋转驱动机构用于驱动吸盘旋转；吸附控制机构包括气泵、气管和气阀；气阀设置在与气泵相连的气管上,气管与吸盘上的气孔连通。该基于机器视觉的气动夹具控制系统集成度高,功能完善,易于实施,控制简便。(The invention discloses a pneumatic clamp control system based on machine vision, which comprises an MCU (microprogrammed control unit), a camera, a rotary driving mechanism, an adsorption control mechanism and a display screen, wherein the camera is arranged on the MCU; the camera, the rotary driving mechanism, the adsorption control mechanism and the display screen are all connected with the MCU; the camera is arranged at the bottom of the sucking disc of the pneumatic clamp; the rotary driving mechanism is used for driving the sucker to rotate; the adsorption control mechanism comprises an air pump, an air pipe and an air valve; the air valve is arranged on an air pipe connected with the air pump, and the air pipe is communicated with the air hole on the sucker. The pneumatic clamp control system based on machine vision is high in integration level, complete in function, easy to implement and simple and convenient to control.)

1. A pneumatic clamp control system based on machine vision is characterized by comprising an MCU (microprogrammed control Unit), a camera, a rotary driving mechanism, an adsorption control mechanism and a display screen;

the camera, the rotary driving mechanism, the adsorption control mechanism and the display screen are all connected with the MCU;

the camera is arranged at the bottom of the sucking disc of the pneumatic clamp;

the rotary driving mechanism is used for driving the sucker to rotate;

the adsorption control mechanism comprises an air pump, an air pipe and an air valve; the air valve is arranged on an air pipe connected with the air pump, and the air pipe is communicated with the air hole on the sucker.

2. The machine-vision-based pneumatic clamp control system of claim 1, further comprising a lift drive mechanism controlled by the MCU; the lifting driving mechanism is a cylinder.

3. The machine vision-based pneumatic clamp control system of claim 1, wherein the suction cup is provided with a photoelectric detection switch for detecting whether the suction cup holds the object. The photoelectric detection switch is connected with the MCU.

4. The machine vision based pneumatic clamp control system according to claim 1, wherein the pneumatic clamp comprises a lifting platform (1), a rotating shaft (2), a suction cup mounting plate (4) and a suction cup (5); the lower end of the lifting platform is vertically arranged on the rotating shaft, and the sucker mounting plate is fixed at the lower end of the rotating shaft; the sucker is arranged on the sucker mounting plate; a motor (7) is arranged on the lifting platform, and a driving gear (6) is arranged on a main shaft of the motor; the rotating shaft is also provided with a driven gear (3), and the driven gear is meshed with the driving gear.

5. The machine-vision based pneumatic clamp control system of any one of claims 1-4, wherein the MCU is connected to the communication module.

Technical Field

The invention relates to a pneumatic clamp control system based on machine vision.

Background

The control of the pneumatic chuck is generally performed by controlling the suction through a gas valve, but in some cases, it is necessary to control the rotation of the suction object, and the rotation process is a process of correcting the object. Meanwhile, the rotation angle needs to be controlled while the rotation is performed. Therefore, there is a need for a machine vision based pneumatic clamp control system.

Disclosure of Invention

The invention aims to solve the technical problem of providing a pneumatic clamp control system based on machine vision, which has the advantages of high integration level, complete functions, easy implementation and simple and convenient control.

The technical solution of the invention is as follows:

a pneumatic clamp control system based on machine vision comprises an MCU, a camera, a rotary driving mechanism, an adsorption control mechanism and a display screen;

the camera, the rotary driving mechanism, the adsorption control mechanism and the display screen are all connected with the MCU;

the camera is arranged at the bottom of the sucking disc of the pneumatic clamp;

the rotary driving mechanism is used for driving the sucker to rotate;

the adsorption control mechanism comprises an air pump, an air pipe and an air valve; the air valve is arranged on an air pipe connected with the air pump, and the air pipe is communicated with the air hole on the sucker.

The lifting driving mechanism is controlled by the MCU; the lifting driving mechanism is a cylinder.

The sucker is provided with a photoelectric detection switch for detecting whether the sucker sucks the object. The photoelectric detection switch is connected with the MCU.

The pneumatic clamp comprises a lifting platform (1), a rotating shaft (2), a sucker mounting plate (4) and a sucker (5); the lower end of the lifting platform is vertically arranged on the rotating shaft, and the sucker mounting plate is fixed at the lower end of the rotating shaft; the sucker is arranged on the sucker mounting plate; a motor (7) is arranged on the lifting platform, and a driving gear (6) is arranged on a main shaft of the motor; the rotating shaft is also provided with a driven gear (3), and the driven gear is meshed with the driving gear.

The MCU is connected with the communication module.

Has the advantages that:

the pneumatic clamp control system based on machine vision is provided with a rotary driving mechanism, and can enable the sucker to rotate for a certain angle by means of image processing, so that the rotary correction function of an adsorbed object is realized. The pneumatic clamp is particularly suitable for occasions requiring high precision on the angle of an adsorption object.

In addition, the clamp is also provided with a photoelectric sensor for detecting whether the clamp is adsorbed to an object, so that the pneumatic clamp has high reliability.

In conclusion, the pneumatic clamp is perfect in function, has a self-adaptive correction function, and also has a function of detecting whether an object is reliably adsorbed, so that the pneumatic clamp is a brand-new intelligent pneumatic clamp, is suitable for popularization and implementation, and has a widely-applied scene in industry.

Drawings

FIG. 1 is a schematic view of the overall structure of a pneumatic clamp;

FIG. 2 is a schematic view of a chuck structure;

FIG. 3 is a schematic view of a chuck control system;

FIG. 4 is a flow chart of the adsorption process.

Description of reference numerals: 1-lifting platform, 2-rotating shaft, 3-driven gear, 4-sucker mounting plate, 5-sucker, 6-driving gear, 7-motor and 8-air hole.

Detailed Description

The invention will be described in further detail below with reference to the following figures and specific examples:

example 1: referring to fig. 1-4, a pneumatic clamp with a rotary sucker comprises a lifting platform 1, a rotating shaft 2, a sucker mounting plate 4 and a sucker 5; the lower end of the lifting platform is vertically arranged on the rotating shaft, and the sucker mounting plate is fixed at the lower end of the rotating shaft; the sucker is arranged on the sucker mounting plate;

a motor 7 is arranged on the lifting platform, and a driving gear 6 is arranged on a main shaft of the motor; the rotating shaft is also provided with a driven gear 3 which is meshed with the driving gear.

The lifting platform is driven by an air cylinder.

The sucker is provided with a plurality of air holes 8 which are communicated with an air suction port connected with the air pump.

The air holes are arranged in a plurality of circles in a concentric circle mode.

The motor is controlled by the MCU.

A control method of a pneumatic clamp comprises the following steps:

step 1: a camera on a sucker of the pneumatic clamp acquires an object image;

the object image is sent to the MCU for processing;

step 2: calculating an object offset angle theta through image processing;

the MCU terminal performs image processing, so that an object offset angle theta is calculated;

and step 3: the sucker adsorbs an object;

the MCU controls the lifting platform to descend and adsorb the object;

and 4, step 4: the MCU controls the sucking disc to rotate in the opposite direction by an angle theta so as to realize object correction.

Adopting a pneumatic clamp with a rotary sucker;

the lower end of the sucker is also provided with an LED light supplement lamp.

The sucker is provided with a photoelectric detection switch for detecting whether the sucker sucks the object.

The MCU controls the adsorption action through an air valve, the air valve is arranged on an air pipe connected with the air pump, and the air pipe is communicated with the air hole on the sucker.

A pneumatic clamp control system based on machine vision comprises an MCU, a camera, a rotary driving mechanism, an adsorption control mechanism and a display screen;

the camera, the rotary driving mechanism, the adsorption control mechanism and the display screen are all connected with the MCU;

the camera is arranged at the bottom of the sucking disc of the pneumatic clamp;

the rotary driving mechanism is used for driving the sucker to rotate;

the adsorption control mechanism comprises an air pump, an air pipe and an air valve; the air valve is arranged on an air pipe connected with the air pump, and the air pipe is communicated with the air hole on the sucker.

The lifting driving mechanism is controlled by the MCU; the lifting driving mechanism is a cylinder.

The sucker is provided with a photoelectric detection switch for detecting whether the sucker sucks the object. The photoelectric detection switch is connected with the MCU.

The MCU is connected with the communication module.