CN113561200A

CN113561200A - Object recognition industrial robot based on image processing

Info

Publication number: CN113561200A
Application number: CN202110913211.4A
Authority: CN
Inventors: 陈明; 徐阳扬; 赵小娥; 杨科峰; 翁垚; 赵艳
Original assignee: Xian University
Current assignee: Xian University
Priority date: 2021-08-10
Filing date: 2021-08-10
Publication date: 2021-10-29

Abstract

The invention belongs to the technical field of industrial robots, and particularly relates to an image processing-based target recognition industrial robot which comprises a main body, wherein a working arm capable of being stored in a layered mode is arranged at the front end of the main body, a supporting arm used for supporting the working arm is arranged at one end of the main body, and a storage area used for storing the working arm is formed in the rear end and the inner portion of the supporting arm. The working arm is attached to one end of the extension arm by rotating around the first axis of the ring sleeve, and the extension arm is further rotated around the second axis of the ring sleeve to be accommodated in an accommodating area formed between the adjacent support arms, so that the working arm is accommodated in a layered manner, saves space and is convenient to move; carry out distance detection to near object through both ends set up distance sensor around the main part, dodge near object, further through with branch to the inside sliding connection of sleeve, make the baffle cushion and reset the spring compression when receiving inevitable collision and prevent damaging equipment.

Description

Object recognition industrial robot based on image processing

Technical Field

The invention belongs to the technical field of industrial robots, and particularly relates to an image processing-based target recognition industrial robot.

Background

With the continuous progress of science and technology, more and more factories adopt robots to replace traditional human labor so as to improve the working efficiency, and the target recognition robot is one of common devices in factories and is generally used for product sorting recognition, product quality detection recognition and the like.

The robot arm structure is comparatively occupation space among original technique, needs great activity space to guarantee normal operating when using, and because the factory is interior equipment numerous, very easy bumps when removing, and can only discern a certain region in the image identification process, and the result of use is relatively poor to and at the arm during operation, the location is not accurate enough, takes place the dislocation condition easily.

Disclosure of Invention

The invention aims to provide an image processing-based target recognition industrial robot, and aims to solve the problems in the prior art.

In order to achieve the purpose, the invention provides the following technical scheme: an industrial robot for target recognition based on image processing comprises a main body, a working arm which can be accommodated in a layered manner is arranged at the front end of the main body, one end of the main body is provided with a supporting arm for supporting the working arm, the rear end and the inner part of the supporting arm are provided with a containing area for containing the working arm, one end of the main body is provided with a distance sensor for detecting the distance of nearby objects, one end of the main body is provided with a baffle for buffering collision, the upper end of the main body is provided with a rotatable rotating seat, one end of the rotating seat is provided with an image sensor for identifying images of objects in different directions, the camera device that is used for improving the gripper work precision of work arm is provided with in the work arm be close to the lower extreme position outside, the one end of support arm is provided with the extension arm that is used for being connected work arm and support arm.

According to the optimal technical scheme of the image processing-based target recognition industrial robot, one end of the extension arm is fixedly connected with a fixing plate used for fixing the working arm, the rear end of the working arm is fixedly connected with a first ring sleeve used for driving the working arm to rotate, and the rear end of the extension arm is fixedly connected with a second ring sleeve used for driving the extension arm to rotate.

According to the preferable technical scheme of the object recognition industrial robot based on the image processing, two ends of the baffle are fixedly connected with fixing support plates used for fixing the baffle on one end of the main body, and one end of the main body is provided with the sleeve.

According to the preferable technical scheme of the image processing-based target recognition industrial robot, one end of the baffle is fixedly connected with a support rod for driving the baffle to move, and the front end of the support rod is fixedly connected with a piston for increasing friction force.

In a preferred embodiment of the object recognition industrial robot based on image processing according to the present invention, a spring for buffering the rod and the piston is provided inside the sleeve.

According to the preferred technical scheme of the image processing-based object recognition industrial robot, the lower end of the rotating seat is fixedly connected with a supporting rod for supporting the rotating seat, and the lower end of the supporting rod is fixedly connected with a sliding block for increasing the contact area with the bottom surface.

As a preferred technical scheme of the object recognition industrial robot based on image processing, a ring seat for sliding connection of a sliding block is fixedly connected to the upper end of the main body.

Compared with the prior art, the invention has the beneficial effects that: the working arm is attached to one end of the extension arm by rotating around the first axis of the ring sleeve, and the extension arm is further rotated around the second axis of the ring sleeve to be accommodated in an accommodating area formed between the adjacent support arms, so that the working arm is accommodated in a layered manner, saves space and is convenient to move; the distance sensors are arranged at the front end and the rear end of the main body to detect the distance of nearby objects, the nearby objects are avoided, and the supporting rod is connected to the inside of the sleeve in a sliding mode, so that the baffle compresses the spring to buffer and reset when the baffle is subjected to inevitable collision, and equipment damage is prevented; the miniature electricity is arranged at the upper end of the rotating seat to drive the image sensor to rotate to perform image recognition on objects in different directions, and the support rod is arranged at the lower end of the rotating seat to be in sliding connection in the annular seat to support the rotating seat, so that the use safety performance is improved; the camera device is arranged on the outer side of the position, close to the lower end, of the working arm, so that the working arm can detect the position of a working object in real time, avoid dislocation and improve accuracy.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic view of the overall appearance structure of the present invention;

FIG. 2 is a side view of the main body of the present invention;

FIG. 3 is a schematic view of the connection between the working arm and the supporting arm according to the present invention;

FIG. 4 is a schematic view of the connecting portion of the baffle plate and the main body according to the present invention;

FIG. 5 is an enlarged partial view of part A of the present invention;

in the figure: 1. a main body; 2. a working arm; 3. a support arm; 4. a storage area; 5. a distance sensor; 6. a baffle plate; 7. a rotating seat; 8. an image sensor; 9. a camera device; 10. an extension arm; 11. a fixing plate; 12. sleeving a ring sleeve I; 13. fixing a support plate; 14. a sleeve; 15. a second ring sleeve; 16. a strut; 17. a piston; 18. a spring; 19. a support bar; 20. a ring seat; 21. a slide block.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Examples

Referring to fig. 1-5, the present invention provides the following technical solutions: an industrial robot for target recognition based on image processing comprises a main body 1, a working arm 2 capable of being stored in layers is arranged at the front end of the main body 1, a supporting arm 3 used for supporting the working arm 2 is arranged at one end of the main body 1, a storage area 4 used for storing the working arm 2 is arranged at the rear end and inside of the supporting arm 3, a distance sensor 5 used for detecting the distance of nearby objects is arranged at one end of the main body 1, a baffle 6 used for buffering collision is arranged at one end of the main body 1, a rotatable rotating seat 7 is arranged at the upper end of the main body 1, an image sensor 8 used for carrying out image recognition on objects in different directions is arranged at one end of the rotating seat 7, the image sensor 8 realizes image recognition based on a Dssd _ Inceptation _ V2 model, and a camera device 9 used for improving the working precision of a mechanical claw of the working arm 2 is arranged outside the position, close to the lower end, of the working arm 2, one end of the supporting arm 3 is provided with an extension arm 10 for connecting the working arm 2 with the supporting arm 3, and the distance sensor 5 and the baffle 6 are symmetrically arranged at two ends of the main body 1 in the embodiment.

Specifically, the one end fixedly connected with of extension arm 10 is used for the fixed plate 11 with the work arm 2 is fixed, and the rear end fixedly connected with of work arm 2 is used for driving the rotatory ring cover 12 of work arm 2, and the rear end fixedly connected with of extension arm 10 is used for driving the rotatory ring cover two 15 of extension arm 10, and the inside of fixed plate 11 runs through and is provided with the pivot in this embodiment.

Specifically, two ends of the baffle 6 are fixedly connected with a fixing support plate 13 for fixing the baffle 6 to one end of the main body 1, one end of the main body 1 is provided with a sleeve 14, and the inside of the sleeve 14 in this embodiment is a through hole structure.

Specifically, one end of the baffle 6 is fixedly connected with a supporting rod 16 for driving the baffle 6 to move, the front end of the supporting rod 16 is fixedly connected with a piston 17 for increasing friction force, and the outer surface of the piston 17 is attached to the inner surface of the sleeve 14 in the embodiment.

Specifically, a spring 18 for buffering the rod 16 and the piston 17 is disposed inside the sleeve 14, and in this embodiment, the spring 18 is also used for driving the baffle 6 to return.

Specifically, the lower end of the rotating seat 7 is fixedly connected with a supporting rod 19 for supporting the rotating seat 7, the lower end of the supporting rod 19 is fixedly connected with a sliding block 21 for increasing the contact area with the bottom surface, and the sliding block 21 is used for increasing the contact area and improving the stability in the embodiment.

Specifically, the upper end of the main body 1 is fixedly connected with a ring seat 20 for sliding connection of a sliding block 21, and the inside of the ring seat 20 in this embodiment is of an annular groove structure.

The working principle and the using process of the invention are as follows: according to the invention, the working arm 2 arranged at the front end of the main body 1 rotates around the axle center of the first ring sleeve 12 at the upper end of the working arm 2 to be attached to one end of the extension arm 10, and further the extension arm 10 arranged at the front end of the main body 1 and connected with the working arm 2 rotates around the axle center of the second ring sleeve 15 at the upper end of the extension arm 10 to be accommodated in the accommodating area 4 formed between the adjacent support arms 3, so that the layered accommodation is completed, the space is saved and the movement is facilitated; the distance sensors 5 are arranged at the front end and the rear end of the main body 1 to detect the distance of nearby objects and avoid the nearby objects, and the support rods 16 are further connected into the sleeves 14 arranged at the two ends of the main body 1 in a sliding manner, so that the baffle 6 slides inwards through the support rods 16 arranged at one end of the baffle 6 when the baffle 6 is subjected to inevitable collision, and the spring 18 is driven to compress to buffer and reset the baffle 6 to prevent the damage to equipment; the micro-electricity arranged at the upper end of the rotating seat 7 can drive the image sensor 8 arranged at one end of the rotating seat 7 to rotate so as to carry out image recognition on objects in different directions, and the support rod 19 is arranged at the lower end of the rotating seat 7, so that the slide block 21 at the lower end of the support rod 19 is in sliding connection in the annular seat 20 to support the rotating seat 7, and the use safety performance is improved; the camera device 9 is arranged on the outer side of the lower end position of the working arm 2, so that the position of a working object is detected in real time, dislocation is avoided, and accuracy is improved.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An object recognition industrial robot based on image processing, characterized in that: comprises a main body (1), wherein the front end of the main body (1) is provided with a working arm (2) which can be stored in a layered manner, one end of the main body (1) is provided with a supporting arm (3) used for supporting the working arm (2), the rear end and the inside of the supporting arm (3) are provided with a storage area (4) used for storing the working arm (2), one end of the main body (1) is provided with a distance sensor (5) used for detecting the distance of nearby objects, one end of the main body (1) is provided with a baffle (6) used for buffering collision, the upper end of the main body (1) is provided with a rotatable rotating seat (7), one end of the rotating seat (7) is provided with an image sensor (8) used for carrying out image recognition on the objects in different directions, the outer side of the position close to the lower end of the working arm (2) is provided with a camera device (9) used for improving the working precision of a mechanical claw of the working arm (2), one end of the supporting arm (3) is provided with an extension arm (10) which is used for connecting the working arm (2) with the supporting arm (3).

2. An object recognition industrial robot based on image processing according to claim 1, characterized in that: the one end fixedly connected with of extension arm (10) is used for fixed plate (11) with work arm (2), the rear end fixedly connected with of work arm (2) is used for driving work arm (2) rotatory ring cover one (12), the rear end fixedly connected with of extension arm (10) is used for driving the rotatory ring cover two (15) of extension arm (10).

3. An object recognition industrial robot based on image processing according to claim 1, characterized in that: the baffle is characterized in that two ends of the baffle (6) are fixedly connected with fixing support plates (13) used for fixing the baffle (6) to one end of the main body (1), and one end of the main body (1) is provided with a sleeve (14).

4. An object recognition industrial robot based on image processing according to claim 1, characterized in that: one end fixedly connected with of baffle (6) is used for driving branch (16) that baffle (6) removed, the front end fixedly connected with of branch (16) is used for increasing frictional force's piston (17).

5. An image processing based object recognition industrial robot according to claim 3, characterized in that: a spring (18) for buffering the rod (16) and the piston (17) is arranged inside the sleeve (14).

6. An object recognition industrial robot based on image processing according to claim 1, characterized in that: the lower end of the rotating seat (7) is fixedly connected with a supporting rod (19) used for supporting the rotating seat (7), and the lower end of the supporting rod (19) is fixedly connected with a sliding block (21) used for increasing the contact area with the bottom surface.

7. An object recognition industrial robot based on image processing according to claim 1, characterized in that: the upper end of the main body (1) is fixedly connected with a ring seat (20) used for sliding connection of a sliding block (21).