CN112775966A - Sorting mechanical arm based on machine vision and working method thereof - Google Patents
Sorting mechanical arm based on machine vision and working method thereof Download PDFInfo
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- CN112775966A CN112775966A CN202011633134.9A CN202011633134A CN112775966A CN 112775966 A CN112775966 A CN 112775966A CN 202011633134 A CN202011633134 A CN 202011633134A CN 112775966 A CN112775966 A CN 112775966A
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- 210000000078 claw Anatomy 0.000 claims abstract description 26
- 238000012545 processing Methods 0.000 claims description 7
- 238000004458 analytical method Methods 0.000 claims description 6
- 239000000872 buffer Substances 0.000 claims description 6
- 230000006698 induction Effects 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 description 7
- 238000010191 image analysis Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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Abstract
The invention provides a sorting mechanical arm based on machine vision, which comprises a support, a first mechanical arm component and a control module, wherein a first motor for driving the first mechanical arm component to rotate is arranged on the support, one end of the first mechanical arm component is fixedly connected with an output shaft of the first motor through a base, a second mechanical arm component capable of moving up and down is arranged on the first mechanical arm component, a mechanical claw and a camera are arranged at one end, far away from the first mechanical arm component, of the second mechanical arm component, and the first mechanical arm component, the second mechanical arm component, the first motor, the mechanical claw and the camera are all connected with the control module. The invention further provides a sorting mechanical arm working method based on machine vision. The invention improves the structure of the mechanical arm assembly, the camera can move on the conveyor belt, the camera shooting range is enlarged, and the omission of goods on the conveyor belt is avoided.
Description
Technical Field
The invention relates to the technical field of sorting mechanical arms, in particular to a sorting mechanical arm based on machine vision and a working method thereof.
Background
Machine vision is a branch of the rapid development of artificial intelligence. In brief, machine vision is to use a machine to replace human eyes for measurement and judgment. The machine vision system converts the shot target into an image signal through a machine vision product, namely an image shooting device, transmits the image signal to a special image processing system to obtain the form information of the shot target, and converts the form information into a digital signal according to the information of pixel distribution, brightness, color and the like; the image system performs various calculations on these signals to extract the features of the target, and then controls the operation of the on-site equipment according to the result of the discrimination. Chinese patent publication No. CN110369329A, published 2019, 10 and 25, which discloses a machine vision shape sorting device. It includes: the system comprises a conveyor belt parallel to the ground and a kirschner camera support frame which is arranged on one side of the conveyor belt and vertically connected with the ground; the intelligent camera support frame is connected with an aperture which is used for facilitating the intelligent camera to better collect light and identify; a kirschner intelligent camera is fixed in the middle of the aperture and used for acquiring and identifying geometric characteristics of the target material; a plurality of materials with different geometric shapes are placed on the conveying belt under the intelligent camera; the other side of the material pile is provided with an air cylinder supporting frame, and an air cylinder push rod is arranged on the upper side of the air cylinder supporting frame; an image display screen is arranged in front of the cylinder; the camera subassembly in this patent application and the separate application of letter sorting action subassembly, the camera subassembly is fixed in a place, can only carry out the image to a fixed direction and ingest, but when people place the goods on the conveyer belt, the position of placing can be in disorder very, and the camera subassembly only carries out the image to a position or position and ingests, can make the goods omit, leads to the letter sorting action subassembly can't sort to it and get.
Disclosure of Invention
The invention aims to overcome the defects that a camera assembly and a mechanical action assembly in the existing sorting device are separately arranged and operated on a conveyor belt, and the camera assembly can only carry out camera shooting in one direction, so that goods can be omitted, and provides a sorting mechanical arm based on machine vision. The invention improves the structure of the mechanical arm assembly, the camera can move on the conveyor belt, the camera shooting range is enlarged, and the omission of goods on the conveyor belt is avoided.
The invention further provides a working method of the sorting mechanical arm based on machine vision.
In order to solve the technical problems, the invention adopts the technical scheme that: the utility model provides a letter sorting arm based on machine vision, wherein, includes support, first arm subassembly and control module, be equipped with the first motor of drive first arm subassembly pivoted on the support, the one end of first arm subassembly pass through the base with the output shaft fixed connection of first motor, be equipped with the second arm subassembly that can reciprocate on the first arm subassembly, the second arm subassembly is kept away from the one end of first arm subassembly is equipped with gripper and camera, first arm subassembly, second arm subassembly, first motor, gripper and camera all with control module connects.
In the technical scheme, the support is positioned on one side of the conveying belt, the first motor on the support drives the first mechanical arm assembly to rotate on the support, the second mechanical arm assembly moves up and down on the first mechanical arm assembly, so that a mechanical claw on the tail end of the second mechanical arm assembly moves in multiple directions to grab goods on the conveying belt, and the camera can move along with the second mechanical arm assembly due to the fact that the camera is also fixed at the tail end of the second mechanical arm assembly, the shooting range of the camera is expanded, the camera can conduct all-dimensional shooting on the position of the conveying belt, and messy goods placed on the conveying belt cannot be omitted; the control module is used for controlling the actions of the first mechanical arm assembly, the second mechanical arm assembly, the first motor, the mechanical claw and the camera, images acquired by the camera can be input into the control module for image analysis, and the control module is used for sending action instructions to the first mechanical arm assembly, the second mechanical arm assembly, the first motor and the mechanical claw according to analysis results.
Furthermore, the bottom plate with be equipped with the slip subassembly of restriction bottom plate rotation angle between the support, the slip subassembly includes the arc spout, be equipped with the gliding slider of cooperation on the arc spout, the top and the bottom plate of slider are fixed. In this technical scheme, first motor moves according to the action command that control module sent, and first motor can drive bottom plate and fixed first arm component and rotate on the arc spout, and the rotation range of bottom plate can be restricted to the arc spout, supports the bottom plate simultaneously.
Furthermore, the first mechanical arm assembly comprises a first connecting rod, the side edge of the first connecting rod is of a hollow structure, a threaded column is arranged in the hollow structure, bearings are arranged at two ends of the hollow structure, a second motor is arranged at the top of the first connecting rod, one end, close to the support, of the threaded column penetrates into one of the bearings, the other end of the threaded column penetrates through the other bearing and is fixed on an output shaft of the second motor, a threaded sleeve is arranged on the threaded column, the second mechanical arm assembly is fixedly connected with the threaded sleeve, and the second motor is connected with the control module. The rotation of second motor can drive its fixed connection's screw thread post among this technical scheme and rotate, and the rotation of screw thread post can make the thread bush of being connected rather than reciprocate to make and move together with thread bush fixed connection's second robotic arm subassembly follow.
Furthermore, one side of the hollow structure, which is far away from the second mechanical arm component, is provided with a linear sliding groove, and one end of the threaded sleeve is provided with a sliding block matched with the linear sliding groove. In this technical scheme, the inside spout of hollow structure and the supplementary thread bush of slider move on the screw thread post steadily, avoid the thread bush to rotate along with the screw thread post.
Furthermore, the second mechanical arm assembly comprises a second connecting rod, a cylinder is arranged inside the second connecting rod, a piston rod of the cylinder penetrates through the second connecting rod, the mechanical claw and the camera are fixed at one end, far away from the first connecting rod, of the piston rod, and the cylinder and the camera are both connected with the control module. In this technical scheme, piston rod on the cylinder can accomplish relevant action according to control module's action instruction, and the piston rod can be telescopic motion in the cylinder, and the camera and the gripper of piston rod end connection can follow the piston rod and do the back and forth motion, and control module is reached on the image information that the camera obtained, is equipped with image analysis system on the control module, and image analysis system can carry out the analysis according to image information, reachs the goods classification.
Furthermore, a first connecting plate is arranged at the top of one end, away from the first connecting rod, of the piston rod, a second connecting plate is arranged at the bottom of one end, away from the first connecting rod, of the piston rod, the camera is located on the first connecting plate, and the gripper is located on the second connecting plate.
Furthermore, a buffer device is arranged on the end face, far away from the first connecting rod, of the second connecting rod. Buffer can cushion piston rod end gripper and camera, avoids the piston rod at the in-process that contracts, violently strikes the second connecting rod, leads to the goods that gripper snatched to drop.
Furthermore, buffer includes the telescopic link, the spring is established to the telescopic link overcoat, the one end of telescopic link with the second connecting rod is fixed, the other end of telescopic link is the free end, cushions first connecting plate and second connecting plate. When the piston rod moved in the cylinder, the free end contact of first connecting plate and second connecting plate and telescopic link, the telescopic link can inwards shorten, and the spring that its outside cover was established is also compressed in the same trend, cushions first connecting plate and second connecting plate.
Furthermore, the bottom of the support is provided with a universal wheel, and the universal wheel is provided with a braking device. The universal wheel of support bottom can help whole letter sorting arm to remove, can carry out letter sorting work in the conveyer belt different positions, and arresting gear restriction universal wheel's rotation avoids letter sorting arm to remove at the during operation.
A working method of a sorting mechanical arm based on machine vision comprises the following steps:
s1, a piston rod of an air cylinder drives a camera connected with the air cylinder to move, and the identification code of the goods is shot;
s2, the camera converts the shot identification code into an image signal and transmits the image signal to the control module, an image processing system on the control module analyzes the category of the goods, and the control module sends action instructions to the first motor, the second motor and the cylinder according to the analysis result;
s3, a first motor rotates to drive a bottom plate and a first mechanical arm assembly to rotate, so that the first mechanical arm assembly is parallel to the goods, a second motor rotates to drive a threaded column to rotate, the threaded column rotates to drive a threaded sleeve and a second mechanical assembly to move downwards, a mechanical claw on the second mechanical arm assembly clamps the goods, the second motor rotates reversely to drive the second mechanical arm assembly and the mechanical claw connected with the second mechanical arm assembly to move upwards, a piston rod of an air cylinder contracts, meanwhile, the first motor rotates to drive the first mechanical arm assembly to rotate, and the mechanical claw is placed above an induction box corresponding to the goods;
s4, the second motor rotates reversely to drive the threaded sleeve to move downwards, the threaded sleeve moves downwards to drive the second mechanical arm assembly to move downwards, the mechanical claw loosens the goods, the goods are placed in the corresponding storage box to be sorted and conveyed, the first mechanical arm assembly and the second mechanical assembly reset, and the piston rod of the air cylinder drives the camera to continue the action of the step S1.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the piston rod of the air cylinder drives the camera to reciprocate above the conveyor belt under the action instruction of the control module, various goods placed on the conveyor belt are shot and transmitted to the image processing system of the control module, the categories of the goods are distinguished by the image processing system, and compared with the traditional fixed image shooting, the piston rod moves to drive the camera to carry out moving shooting, so that goods omission is avoided; according to the invention, the first mechanical arm assembly and the second mechanical arm assembly are matched for use, the mechanical claw has three degrees of freedom and multiple moving directions, and can grab and sort goods in multiple directions.
Drawings
Fig. 1 is a schematic overall structure diagram of a sorting mechanical arm based on machine vision according to the invention.
Fig. 2 is a front projection view in the direction B in fig. 1.
Fig. 3 is a partially enlarged view of a portion a in fig. 1.
The graphic symbols are illustrated as follows:
1-bracket, 2-first motor, 3-first connecting rod, 4-second connecting rod, 5-first sliding block, 6-linear sliding groove, 7-threaded column, 8-second motor, 9-threaded sleeve, 10-air cylinder, 11-first connecting plate, 12-mechanical claw, 13-cargo, 14-conveyor belt, 15-camera, 16-second connecting plate, 17-arc sliding groove, 18-universal wheel, 19-telescopic rod, 20-spring and 21-bottom plate.
Detailed Description
The present invention will be further described with reference to the following embodiments. Wherein the showings are for the purpose of illustration only and are shown by way of illustration only and not in actual form, and are not to be construed as limiting the present patent; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. based on the orientation or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and are not to be construed as limiting the present patent, and the specific meaning of the terms may be understood by those skilled in the art according to specific circumstances.
Example 1
Fig. 1 to 3 show an embodiment of a sorting robot arm based on machine vision according to the present invention. A sorting mechanical arm based on machine vision comprises a support 1, a first mechanical arm component and a second mechanical arm component, wherein a first motor 2 is arranged on the support 1, an arc-shaped sliding groove 17 is formed in the surface of the top of the support 1, a first sliding block 5 is arranged on the arc-shaped sliding groove 17, a bottom plate 21 is fixedly arranged at the top of the first sliding block 5, and one end of the first mechanical arm component is fixed on the bottom plate 21; one end of the second mechanical arm assembly is movably arranged on the first mechanical arm assembly, the other end of the second mechanical arm assembly is provided with a mechanical claw 12 and a camera 15, and the first motor 2 penetrates through a bearing on the support to be fixedly connected with the bottom plate 21.
In this embodiment, the first robot arm assembly, the second robot arm assembly, the first motor 2, the camera 15, and the gripper 12 are all connected to a higher-level PLC control system, the PLC control system performs motion control on the first robot arm assembly, image information obtained by the camera 15 is also input to a graphic processing system in the higher-level PLC control system to perform image analysis, and according to an analysis result, the PLC control system sends a corresponding motion instruction.
Wherein, first arm component includes head rod 3, the side of head rod 3 is hollowed, become hollow structure, be equipped with screw thread post 7 in the hollow structure, hollow structure's both ends all are equipped with the bearing, the top of head rod 3 is equipped with second motor 8, screw thread post 7 penetrates one of them bearing near the one end of support, another bearing of other bearing and second motor 8's output shaft fixed connection is passed to screw thread post 7's the other end, be equipped with thread bush 9 on the threaded rod 7, fixed second arm component on the thread bush 9, second motor 8 rotates screw thread post 7 and rotates in hollow structure's bearing, thread bush 9 can reciprocate at screw thread post 7, also can follow and move together with screw thread bush 9 fixed connection's second arm component.
In addition, hollow structure's left side is equipped with sharp spout 6, is equipped with the second slider with sharp spout 6 complex on the thread bush 9, and the in-process that the thread bush 9 reciprocated at screw thread post 7, second slider and sharp spout 6 can help the thread bush 9 to move steadily on screw thread post 7, avoid the thread bush 9 to rotate along with screw thread post 7.
In this embodiment, the second mechanical arm assembly includes a second connecting rod 16, a cylinder 10 is disposed in the second connecting rod, a piston rod of the cylinder 10 penetrates through the second connecting rod 4, and the gripper 12 and the camera 15 are fixed at a tail end of the piston rod.
The top of the tail end of the piston rod is provided with a first connecting plate 11, the bottom of the tail end of the piston rod is provided with a second connecting plate 16, the camera 15 is fixed on the first connecting plate 11, and the mechanical claw 12 is fixed on the second connecting plate 16.
In this embodiment, the PLC control system controls the operation of the first motor 2, the second motor 8, and the cylinder 10. The first motor 2 rotates to drive the base 21 connected with the first motor to rotate on the arc-shaped sliding groove 17, so that the first mechanical arm component on the base 21 also rotates along with the base 21; second robotic arm subassembly reciprocates on screw post 7, and the piston rod is made the back and forth action in cylinder 10, and above robotic arm subassembly's motion mode makes camera 15 and gripper 12 have three degree of freedom of motion, and camera 15 can follow gripper 12 and move together to enlarged camera 15's shooting scope, made camera 15 can carry out the omnidirectional to the position of conveying belt 14 and make a video recording, can not omit the mixed and disorderly goods of putting on the conveying belt.
Example 2
This embodiment is similar to embodiment 1, except that the bottom of the support is provided with a universal wheel 18, the universal wheel 18 is further provided with a braking device, the universal wheel 18 facilitates the movement of the support 1, and the braking device limits the universal wheel 18 when the embodiment works beside the transmission belt 14. In this embodiment, the supporting leg of support 1 can stretch out and draw back from top to bottom, adjusts the whole height of support 1.
In this embodiment, be equipped with telescopic link 19 on the terminal surface that threaded sleeve 9 was kept away from to second connecting rod 4, the one end of telescopic link 19 and the terminal surface fixed connection of second connecting rod 4, the other end of telescopic link 19 is the free end, spring 20 is established to the cover on telescopic link 19's the outer wall, when the piston rod removed in to cylinder 10, first connecting plate 11 and second connecting plate 16 and the free end contact of telescopic link 19, telescopic link 19 can inwards shorten, the spring 20 that its outside cover was established is also in the same trend compressed, cushion first connecting plate 11 and second connecting plate 16, avoid the piston rod at the in-process that contracts, strike second connecting rod 4, the goods that leads to gripper 12 to snatch drops.
Example 3
An embodiment of a machine vision-based sorting mechanical arm working method. A sorting mechanical arm working method based on machine vision comprises the following steps:
s1, a piston rod of an air cylinder 10 moves to drive a camera 15 at the tail end of the air cylinder to move, and an identification code of a cargo 13 is shot;
s2, the camera 15 converts the shot identification code into an image signal and transmits the image signal to the control module, an image processing system on the control module analyzes the category of the goods 13, and meanwhile the control module sends action instructions to the first motor 2, the second motor 8 and the air cylinder 10 according to the analysis result;
s3, the first motor 2 rotates to drive the bottom plate 21 and the first mechanical arm assembly to rotate, so that the first mechanical arm assembly is parallel to the goods 13, the second motor 8 rotates to drive the threaded column 7 to rotate, the threaded column 7 rotates to drive the threaded sleeve 9 and the second mechanical assembly to move downwards, the goods 13 are clamped by the mechanical claw 12 on the second mechanical arm assembly, the second motor 8 rotates reversely to drive the second mechanical arm assembly and the mechanical claw 12 connected with the second mechanical arm assembly to move upwards, the piston rod of the air cylinder 10 contracts, meanwhile, the first motor 2 rotates to drive the first mechanical arm assembly to rotate, and the mechanical claw 12 is placed above the storage box corresponding to the goods 13;
s4, the second motor 8 reversely rotates to drive the threaded sleeve 9 to move downwards, the threaded sleeve 9 moves downwards to drive the second mechanical arm component to move downwards, the mechanical claw 12 loosens the goods, the goods 13 are placed in the corresponding storage box to finish sorting and conveying, the first mechanical arm component and the second mechanical component reset, and the piston rod of the air cylinder 10 drives the camera 15 to continue the action of the step S1.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. The utility model provides a letter sorting arm based on machine vision which characterized in that: the robot arm assembly comprises a support, a first mechanical arm assembly and a control module, wherein a first motor for driving the first mechanical arm assembly to rotate is arranged on the support, one end of the first mechanical arm assembly is fixedly connected with an output shaft of the first motor through a base, a second mechanical arm assembly capable of moving up and down is arranged on the first mechanical arm assembly, the second mechanical arm assembly is far away from one end of the first mechanical arm assembly and is provided with a mechanical claw and a camera, and the first mechanical arm assembly, the second mechanical arm assembly, the first motor, the mechanical claw and the camera are all connected with the control module.
2. The machine vision based sorting robot arm of claim 1, wherein: the bottom plate with be equipped with the slip subassembly of restriction bottom plate rotation angle between the support, the slip subassembly includes the arc spout, be equipped with the gliding slider of cooperation on the arc spout, the top and the bottom plate of slider are fixed.
3. The machine vision based sorting robot arm of claim 1, wherein: the first mechanical arm assembly comprises a first connecting rod, the side edge of the first connecting rod is of a hollow structure, a threaded column is arranged in the hollow structure, bearings are arranged at two ends of the hollow structure, a second motor is arranged at the top of the first connecting rod, one end, close to the support, of the threaded column penetrates into one of the bearings, the other end of the threaded column penetrates through the other bearing and is fixed on an output shaft of the second motor, a threaded sleeve is arranged on the threaded column, the second mechanical arm assembly is fixedly connected with the threaded sleeve, and the second motor is connected with the control module.
4. The machine vision based sorting robot arm of claim 3, wherein: one side of the hollow structure, which is far away from the second mechanical arm component, is provided with a linear sliding groove, and one end of the threaded sleeve is provided with a sliding block matched with the linear sliding groove.
5. The machine vision based sorting robot arm of claim 3, wherein: the second mechanical arm assembly comprises a second connecting rod, a cylinder is arranged inside the second connecting rod, a piston rod of the cylinder penetrates through the second connecting rod, the mechanical claw and the camera are fixed at one end, far away from the first connecting rod, of the piston rod, and the cylinder and the camera are connected with the control module.
6. The machine vision based sorting robot arm of claim 5, wherein: the top of the end, far away from the first connecting rod, of the piston rod is provided with a first connecting plate, the bottom of the end, far away from the first connecting rod, of the piston rod is provided with a second connecting plate, the camera is located on the first connecting plate, and the mechanical claw is located on the second connecting plate.
7. The machine vision based sorting robot arm of claim 6, wherein: and a buffer device is arranged on the end face, far away from the first connecting rod, of the second connecting rod.
8. The machine vision based sorting robot arm of claim 7, wherein: the buffer device comprises a telescopic rod, a spring is sleeved outside the telescopic rod, one end of the telescopic rod is fixed to the second connecting rod, and the other end of the telescopic rod is a free end and buffers the first connecting plate and the second connecting plate.
9. A machine vision based sorting robot arm according to any of claims 1-8, characterised in that: the bottom of the support is provided with a universal wheel, and the universal wheel is provided with a braking device.
10. A sorting mechanical arm working method based on machine vision is characterized in that: the method comprises the following steps:
s1, a piston rod of an air cylinder drives a camera connected with the air cylinder to move, and the identification code of the goods is shot;
s2, the camera converts the shot identification code into an image signal and transmits the image signal to the control module, an image processing system on the control module analyzes the category of the goods, and the control module sends action instructions to the first motor, the second motor and the cylinder according to the analysis result;
s3, a first motor rotates to drive a bottom plate and a first mechanical arm assembly to rotate, so that the first mechanical arm assembly is parallel to the goods, a second motor rotates to drive a threaded column to rotate, the threaded column rotates to drive a threaded sleeve and a second mechanical assembly to move downwards, a mechanical claw on the second mechanical arm assembly clamps the goods, the second motor rotates reversely to drive the second mechanical arm assembly and the mechanical claw connected with the second mechanical arm assembly to move upwards, a piston rod of an air cylinder contracts, meanwhile, the first motor rotates to drive the first mechanical arm assembly to rotate, and the mechanical claw is placed above an induction box corresponding to the goods;
s4, the second motor rotates reversely to drive the threaded sleeve to move downwards, the threaded sleeve moves downwards to drive the second mechanical arm assembly to move downwards, the mechanical claw loosens the goods, the goods are placed in the corresponding storage box to be sorted and conveyed, the first mechanical arm assembly and the second mechanical assembly reset, and the piston rod of the air cylinder drives the camera to continue the action of the step S1.
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| CN113732912A (en) * | 2021-09-14 | 2021-12-03 | 浙江持胜阀门科技有限公司 | Finish machining device for casting and forming of valve body of stop valve |
| CN115091446A (en) * | 2022-07-12 | 2022-09-23 | 西安航空学院 | Mechanical-electrical integrated industrial robot automation control system |
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