CN114406982A - Moving workpiece identification and grabbing device and method based on binocular stereo vision - Google Patents
Moving workpiece identification and grabbing device and method based on binocular stereo vision Download PDFInfo
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- CN114406982A CN114406982A CN202210007239.6A CN202210007239A CN114406982A CN 114406982 A CN114406982 A CN 114406982A CN 202210007239 A CN202210007239 A CN 202210007239A CN 114406982 A CN114406982 A CN 114406982A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0062—Lubrication means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
The invention discloses a moving workpiece recognizing and grabbing device and method based on binocular stereo vision, which comprises a conveyor, wherein a conveying part and a lubricating mechanism are arranged on the outer surface of one side of the conveyor, the lubricating mechanism comprises a moving part, a mechanical claw, an installation part, a rotating part, an smearing part and a conveying pipe, the moving part is arranged on the conveyor, the installation part and the smearing part are both arranged on the moving part, the mechanical claw is arranged on the installation part, the conveying pipe is arranged in the moving part, a fan is rotated through the rotation of an installation motor, two moving racks drive two cleaning brushes to be close to or far away from each other, a transparent cover is cleaned, the phenomenon that the camera is not accurately recognized due to the dust accumulation of the transparent cover is avoided, a sliding rail is cleaned through the rotation of a scraping plate and a smearing roller, a conveying pump conveys a lubricant in a storage box, and the lubricant is uniformly smeared, the mechanical movement effect can be increased.
Description
Technical Field
The invention belongs to the technical field of recognition and grabbing devices, and particularly relates to a moving workpiece recognition and grabbing device and method based on binocular stereoscopic vision.
Background
The automatic identification of the work piece, through the automatic identification structure of the work piece, the system can automatically identify the work piece, and transfer the corresponding procedure to process automatically, the degree of automation of the structure is high, while improving the efficiency, can avoid the manual error, the binocular stereoscopic vision is an important form of machine vision, it is based on the parallax error principle and utilizes the imaging equipment to obtain two images of the measured object from different positions, through calculating the position deviation between the corresponding points of the image, to obtain the three-dimensional geometric information of the object, the binocular stereoscopic vision measuring method has the advantages of high efficiency, suitable precision, simple system structure, low cost, etc., is very suitable for the on-line, non-contact product detection and quality control of the manufacturing site, in measuring the moving object, because the image acquisition is finished in the twinkling of an eye, the stereoscopic vision method is a more effective measuring method, the binocular stereo vision system is one of key technologies of computer vision, and the distance information for acquiring the spatial three-dimensional scene is also the most basic content in computer vision research.
Present binocular stereovision's motion work piece discernment grabbing device when discerning, need use the camera to discern, long-term in-service use is easy deposition on the camera, difficult clean, and lead to the camera discernment inaccurate easily, and present binocular stereovision's motion work piece discernment grabbing device, in use gripper need move on the slide rail, the slide rail needs regularly to use lubricating oil to lubricate, when lubricated, the user uses the brush to dip in and gets to apply paint with a brush, it is comparatively troublesome to apply paint with a brush, and paint inhomogeneously.
Disclosure of Invention
The invention aims to: the fixed rod is driven to rotate by the rotation of the installation motor, one of the connecting gears is driven to rotate by the rotation of the fixed rod, the other two connecting gears can drive the connecting rod to rotate by the meshing between the gears, the connecting rod drives the fixed disk to rotate to drive the fan to rotate, meanwhile, the fixed rod drives the installation gear to rotate, the two transmission gears can rotate by the rotation of the installation gear, the transmission gears can drive the two movable racks to drive the two cleaning brushes to mutually approach or separate, the transparent cover is cleaned, the transparent cover is prevented from being accumulated with dust, the camera identification is not accurate, when the sliding block moves on the sliding rail, the fixed gear drives the fixed rod to rotate by the meshing between the fixed gear and the fixed gear, the fixed rod drives the scraper and the smearing roller to rotate, the sliding rail is cleaned, the transmission pump transmits the lubricant in the storage box to the sliding rail through the transmission pipe, drive the threaded rod through fixed motor and rotate to make the slider remove on the slide rail, make the scraper blade simultaneously with paint the roller and rotate, all with paint lubricant, can increase mechanical movement effect.
The technical scheme adopted by the invention is as follows: a moving workpiece recognition grabbing device based on binocular stereo vision comprises:
the outer surface of one side of the conveyer is provided with a transmission part;
the lubricating mechanism comprises a moving part, a mechanical claw, an installation part, a rotating part, a smearing part and a transmission pipe, wherein the moving part is arranged on the conveyor, the installation part and the smearing part are both arranged on the moving part, the mechanical claw is arranged on the installation part, and the transmission pipe is arranged in the moving part; and
the cleaning mechanism comprises a power part, two groups of transmission parts, two fans, a cleaning part, a transparent cover and two cameras, wherein the power part is arranged on the transmission machine, the transmission parts, the cleaning part, the transparent cover and the two cameras are arranged on the power part, and the two fans are arranged on the two groups of transmission parts respectively.
The mounting component comprises two supporting blocks, a sliding rail and a sliding block, the two supporting blocks are fixedly connected to the top of the conveyor, the sliding rail is fixedly connected between the two supporting blocks, the sliding block is embedded in the upper surface of the sliding rail in a sliding mode, the top of the sliding block is fixedly connected with the mechanical claw, two mounting grooves are formed in two sides of the sliding block, and a T-shaped partition plate is fixedly connected between the inner walls of the two mounting grooves.
The movable part comprises a fixed motor and a threaded rod, the fixed motor is fixedly connected with the transmission machine, the threaded rod is rotatably connected between the inner walls of the two sides of the sliding rail, the outer surface threads of the threaded rod penetrate through the sliding block, and the output end of the fixed motor is fixedly connected with one end of the threaded rod.
The rotating part comprises two fixed racks, four fixed gears and four supporting rods, the two fixed racks are respectively fixedly connected to the outer surfaces of the two sides of the sliding rail, the four supporting rods are respectively and rotatably penetrated through the upper surface of the T-shaped partition plate, the four fixed gears are respectively sleeved on the outer surfaces of the four supporting rods, and the four fixed gears are respectively meshed with the two fixed racks.
The smearing component comprises two smearing rollers and two scraping plates, and the outer surfaces of the four supporting rods are respectively sleeved with the two smearing rollers and the two scraping plates.
Wherein, the power part includes install bin, installation motor, fixed case and dead lever, the bottom of install bin is close to two pole settings of the equal fixedly connected with in both sides department, two the equal fixed connection in the top of conveyer in the bottom of pole setting, installation motor fixed connection is in the top of install bin, fixed case fixed connection is in the upper inner wall of install bin, dead lever fixed connection is in the output of installation motor, and the bottom fixedly connected with installation gear of dead lever, two the equal fixed connection in the bottom of install bin of camera and translucent cover.
Wherein, every group transmission part all includes connecting rod, two fixed disks and two protective frame, protective frame fixed connection is in the bottom of install bin, the connecting rod rotates to be connected between fixed box and install bin, the equal fixed cover in surface of connecting rod and dead lever is equipped with connecting gear, wherein two connecting gear intermeshing, two the surface of fan and connecting rod is located respectively to the fixed disk cover, two through the skin looks transmission between the fixed disk.
Wherein, cleaning element includes two slide bars, two removal racks, two drive gear, three gag lever post, two cleaning brush, and is three the equal fixed connection of gag lever post is between the installation box both sides inner wall, two the surface of three gag lever post is located to the equal slip cap of cleaning brush, two fixed connection is respectively in the top of two cleaning brush to the one end of removing the rack, two the equal fixed connection of slide bar is in the bottom of fixed box, two the slide bar slides respectively to inlay locates the top of two removal racks, two drive gear all rotates and connects in the bottom of fixed box, two drive gear all with installation gear intermeshing.
The conveying part comprises a storage box and a conveying pump, the storage box is fixedly connected to the outer surface of one side of the conveying machine, the conveying pump is fixedly connected to the top of the storage box, the input end of the conveying pump is communicated and connected with the storage box, and the output end of the conveying pump is communicated and connected with one end of the conveying pipe.
A use method of a moving workpiece recognition and grabbing device based on binocular stereo vision comprises the following steps:
step one, conveying and identifying workpieces: the workpiece is transmitted through the transmission machine, the camera locks the workpiece, and meanwhile the fixed motor rotates to drive the threaded rod to rotate, so that the sliding block moves on the sliding rail, and the workpiece is grabbed and transferred by driving the mechanical claw to move.
Step two, cleaning the camera: when the camera needs to be cleaned, the fixing rod is driven to rotate through the rotation of the mounting motor, the fixing rod drives one of the connecting gears to rotate, the other two connecting gears can drive the connecting rod to rotate through meshing between the gears, the connecting rod drives the fixing disc to rotate to drive the fan to rotate, meanwhile, the fixing rod drives the mounting gear to rotate, the mounting gear can rotate two transmission gears, the transmission gears rotate, the two movable racks can drive the two cleaning brushes to be close to or far away from each other, and the transparent cover is cleaned.
Step three, lubrication protection: when needs are to lubricated, when moving on the slide rail through the slider, through fixed gear and the meshing of fixed rack, make fixed gear drive the dead lever and rotate, the dead lever drives the scraper blade and paints the roller and rotate, clean the slide rail, the transmission pump transmits the emollient in the storage tank, the emollient passes through the transmission pipe and transmits to the slide rail on, drive the threaded rod through fixed motor and rotate to make the slider move on the slide rail, make the scraper blade rotate with painting the roller simultaneously, all with scribbling the emollient.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
(1) according to the invention, the fixing rod is driven to rotate by the rotation of the mounting motor, the fixing rod drives one of the connecting gears to rotate, the other two connecting gears can drive the connecting rod to rotate by the meshing between the gears, the connecting rod drives the fixing disc to rotate to drive the fan to rotate, meanwhile, the fixing rod drives the mounting gear to rotate, the two transmission gears can rotate by the rotation of the mounting gear, the transmission gears rotate, the two movable racks can drive the two cleaning brushes to be close to or far away from each other, the transparent cover is cleaned, and the phenomenon that the transparent cover is accumulated with dust is avoided, so that the camera is not accurately identified.
(2) According to the invention, when the sliding block moves on the sliding rail, the fixed gear is meshed with the fixed rack, so that the fixed gear drives the fixed rod to rotate, the fixed rod drives the scraper and the smearing roller to rotate, the sliding rail is cleaned, the transmission pump transmits the lubricant in the storage box, the lubricant is transmitted to the sliding rail through the transmission pipe, the threaded rod is driven to rotate through the fixed motor, the sliding block moves on the sliding rail, the scraper and the smearing roller rotate at the same time, and the lubricant is uniformly smeared, so that the mechanical movement effect can be increased.
Drawings
FIG. 1 is a front perspective view of the present invention;
FIG. 2 is a rear perspective view of the present invention;
FIG. 3 is a partial cross-sectional view of an elevational cleaning mechanism of the present invention;
FIG. 4 is a partial cross-sectional view of an elevational lubrication mechanism of the present invention;
FIG. 5 is a side cross-sectional view of a portion of the cleaning mechanism of the present invention;
FIG. 6 is a partial top cross-sectional view of the cleaning mechanism of the present invention;
FIG. 7 is an exploded view of the cleaning mechanism of the present invention;
FIG. 8 is a side cross-sectional view of the lubrication mechanism of the present invention;
FIG. 9 is a top cross-sectional view of the lubrication mechanism of the present invention;
fig. 10 is an exploded view of the lubrication mechanism of the present invention.
The labels in the figure are: 1. a conveyor; 2. a lubrication mechanism; 201. fixing a motor; 202. a support block; 203. a slide rail; 204. a threaded rod; 205. a slider; 206. a conveying pipe; 207. fixing a gear; 208. fixing a rack; 209. a T-shaped partition plate; 210. a squeegee; 211. a coating roller; 212. a gripper; 213. a support bar; 3. a cleaning mechanism; 301. installing a motor; 302. installing a box; 303. a fixed box; 304. a slide bar; 305. a connecting rod; 306. fixing the rod; 307. a connecting gear; 308. mounting a gear; 309. a transmission gear; 310. moving the rack; 311. a limiting rod; 312. fixing the disc; 313. a protective frame; 314. a transparent cover; 315. a camera; 316. a cleaning brush; 317. a fan; 4. a storage box; 5. a transfer pump.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example one
Referring to fig. 1-10: a moving workpiece recognition grabbing device based on binocular stereo vision comprises: the structure and the principle of the conveyor 1 belong to the prior art, and are not described in detail herein, the type of the conveyor 1 can be selected according to the actual use condition, the arrangement of the super-reference conveying component is used for conveying lubricating oil, the lubricating mechanism 2 comprises a moving component, a mechanical claw 212, a mounting component, a rotating component, a coating component and a conveying pipe 206, the moving component is arranged on the conveyor 1, the mounting component and the coating component are both arranged on the moving component, the mechanical claw 212 is arranged on the mounting component, the conveying pipe 206 is arranged in the moving component, the lubricating mechanism 2 is arranged for lubricating, the moving component is arranged for driving the mechanical claw 212 to move, the mounting component is arranged for mounting and supporting the mechanical claw 212, and the rotating component and the coating component are arranged for coating the lubricating oil, the transmission pipe 206 is arranged for transmitting lubricating oil, the outer surface of the transmission pipe 206 is provided with a plurality of transmission holes, the mechanical claw 212 is arranged for transmitting and grabbing workpieces, the cleaning mechanism 3 comprises a power part, two groups of transmission parts, two fans 317, a cleaning part, a transparent cover 314 and two cameras 315, the power part is arranged on the transmitter 1, the two groups of transmission parts, the cleaning part, the transparent cover 314 and the two cameras 315 are all arranged on the power part, the two fans 317 are respectively arranged on the two groups of transmission parts, the cleaning mechanism 3 is arranged for cleaning, the power part is used for providing rotating force, the transmission parts are arranged for transmission, the fans 317 are arranged for air drying, the cleaning part is arranged for cleaning the transparent cover 314, the transparent cover 314 is arranged for protecting the cameras 315, and the cameras 315 are used for identifying the workpieces, the structure and principle of the arrangement of the camera 315 belong to the prior art, which are not described in detail herein, the type of the camera 315 can be selected according to the actual use situation, the installation component includes two support blocks 202, a slide rail 203 and a slide block 205, the two support blocks 202 are fixedly connected to the top of the conveyor 1, the slide rail 203 is fixedly connected between the two support blocks 202, the slide block 205 is slidably embedded on the upper surface of the slide rail 203, the top of the slide block 205 is fixedly connected with a gripper 212, two mounting grooves are formed on two sides of the slide block 205, a T-shaped partition plate 209 is fixedly connected between the inner walls of the two mounting grooves, the support block 202 is arranged for limiting the slide block 205, the slide rail 203 is arranged for supporting the slide block 205, the slide block 205 is arranged for supporting the gripper 212, the slide block 205 can drive the gripper 212 to move on the slide rail 203, the outer surface of the slide rail 203 is provided with a plurality of through holes, the movable component comprises a fixed motor 201 and a threaded rod 204, the fixed motor 201 is fixedly connected with the transmitter 1, the threaded rod 204 is rotatably connected between the inner walls of the two sides of the sliding rail 203, the outer surface thread of the threaded rod 204 penetrates through the sliding block 205, the output end of the fixed motor 201 is fixedly connected with one end of the threaded rod 204, the fixed motor 201 is arranged for providing rotating force, the threaded rod 204 is arranged to be matched with the fixed motor 201 to enable the sliding block 205 to move, the structure and the principle of the fixed motor 201 belong to the prior art, which are not described in detail herein, the type of the fixed motor can be selected according to actual use conditions, the movable component comprises two fixed racks 208, four fixed gears 207 and four supporting rods 213, the two fixed racks 208 are respectively and fixedly connected to the outer surfaces of the two sides of the sliding rail 203, and the four supporting rods 213 are rotatably penetrated through the upper surface of the T-shaped partition 209, the four fixed gears 207 are respectively sleeved on the outer surfaces of the four supporting rods 213, the four fixed gears 207 are respectively meshed with the two fixed racks 208, the fixed gears 208 are matched with the fixed gears 207, the fixed gears 207 can rotate, the supporting rods 213 are arranged for supporting, the supporting rods 213 can rotate through the rotation of the fixed gears 207, the T-shaped partition plate 209 is arranged for installation and fixation to achieve a blocking effect, the smearing component comprises two smearing rollers 211 and two scraping plates 210, the two smearing rollers 211 and the two scraping plates 210 are respectively sleeved on the outer surfaces of the four supporting rods 213, the smearing rollers 211 and the two scraping plates 210 can evenly smear the consistency of lubricating oil, and original residual lubricating oil can be removed.
Referring to fig. 1-10: the power component comprises an installation box 302, an installation motor 301, a fixed box 303 and a fixed rod 306, two vertical rods are fixedly connected to the bottom of the installation box 302 close to two sides, the bottom ends of the two vertical rods are fixedly connected to the top of the conveyor 1, the installation motor 301 is fixedly connected to the top of the installation box 302, the fixed box 303 is fixedly connected to the upper inner wall of the installation box 302, the fixed rod 306 is fixedly connected to the output end of the installation motor 301, the bottom end of the fixed rod 306 is fixedly connected with an installation gear 308, two cameras 315 and a transparent cover 314 are fixedly connected to the bottom of the installation box 302, the installation box 302 is used for installation, the vertical rods are used for supporting the installation box 302, the installation motor 301 is used for providing rotating force, the fixed box 303 is used for supporting, the fixed rod 306 penetrates through the fixed box 303, the installation gear 308 is used for linkage, and the structure and principle of the installation motor 301 belong to the prior art, not described in detail here, the type of the cleaning component can be selected according to actual use conditions, each set of transmission components comprises a connecting rod 305, two fixed disks 312 and two protective frames 313, the protective frames 313 are fixedly connected to the bottom of the installation box 302, the connecting rod 305 is rotatably connected between the fixed box 303 and the installation box 302, the outer surfaces of the connecting rod 305 and the fixed rod 306 are fixedly sleeved with connecting gears 307, the two connecting gears 307 are meshed with one connecting gear 307, the two fixed disks 312 are respectively sleeved on the outer surfaces of the fan 317 and the connecting rod 305, the two fixed disks 312 are in transmission through leather, the connecting rod 305 is used for connection, the fixed disks 312 are used for transmission, the fan 317 can be rotated through the arrangement of the fixed disks 312, the connecting gears 307 are used for transmission, the protective frames 313 are used for protecting the fan 317, and the cleaning component comprises two sliding rods 304, 317 and 317, Two movable racks 310, two transmission gears 309, three limiting rods 311 and two cleaning brushes 316, wherein the three limiting rods 311 are fixedly connected between the inner walls of the two sides of the installation box 302, the two cleaning brushes 316 are slidably sleeved on the outer surfaces of the three limiting rods 311, one ends of the two movable racks 310 are respectively fixedly connected to the tops of the two cleaning brushes 316, the two sliding rods 304 are respectively fixedly connected to the bottom of the fixed box 303, the two sliding rods 304 are respectively slidably embedded at the tops of the two movable racks 310, the two transmission gears 309 are respectively rotatably connected to the bottom of the fixed box 303, the two transmission gears 309 are respectively meshed with the installation gear 308, the sliding rods 304 are used for supporting the movable racks 310 and simultaneously play a limiting role on the movable racks 310, the arrangement of the movable racks 310 can drive the two cleaning brushes 316 to be close to or far away from each other, and the arrangement of the cleaning brushes 316 plays a cleaning role on the transparent cover 314, the cleaning brush 316 penetrates through the installation box 302, the bottom of the installation box 302 is provided with a moving groove matched with the cleaning brush 316, the transmission gear 309 and the installation gear 308 are matched for transmission, the movable rack 310 can be moved, the limiting rod 311 is arranged to support the cleaning brush 316, the cleaning brush 316 can be slid, the transfer part includes a storage tank 4 and a transfer pump 5, the storage tank 4 is fixedly connected to one side outer surface of the conveyor 1, the transfer pump 5 is fixedly connected to the top of the storage tank 4, the input end of the transfer pump 5 is connected to the storage tank 4, the output end of the transmission pump 5 is connected with one end of the transmission pipe 206, the storage box 4 is used for storing lubricating oil, the transmission pump 5 is used for transmitting lubricating oil, the structure and the principle of the transmission pump 5 belong to the prior art, and are not described in detail here, and the type can be selected according to the actual use condition.
The following describes in detail a moving workpiece recognition and gripping device and a method for using the same based on binocular stereo vision, the method comprising the following steps: step one, conveying and identifying workpieces: the workpiece is transmitted by the transmitter 1, the camera 315 locks the workpiece, and simultaneously the fixed motor 201 rotates to drive the threaded rod 204 to rotate, so that the sliding block 205 moves on the sliding rail 203, and the mechanical claw 212 is driven to move to grab and transfer the workpiece; step two, cleaning the camera: when the camera 315 needs to be cleaned, the mounting motor 301 rotates to drive the fixing rod 306 to rotate, the fixing rod 306 rotates to drive one of the connecting gears 307 to rotate, the other two connecting gears 307 can drive the connecting rod 305 to rotate through the meshing between the gears, the connecting rod 305 rotates to drive the fixing disc 312 to rotate to drive the fan 317 to rotate, meanwhile, the fixing rod 306 rotates to drive the mounting gears 308 to rotate, the mounting gears 308 rotate to drive the two transmission gears 309 to rotate, the transmission gears 309 rotate to drive the two movable racks 310 to drive the two cleaning brushes 316 to approach or separate from each other, and the transparent cover 314 is cleaned; step three, lubrication protection: when lubrication is needed, when the sliding block 205 moves on the sliding rail 203, the fixed gear 207 is meshed with the fixed rack 208, the fixed gear 207 drives the fixed rod 306 to rotate, the fixed rod 306 drives the scraper 210 and the smearing roller 211 to rotate, the sliding rail 203 is cleaned, the transmission pump 5 transmits the lubricant in the storage box 4, the lubricant is transmitted to the sliding rail 203 through the transmission pipe 206, the threaded rod 204 is driven to rotate through the fixed motor 201, the sliding block 205 moves on the sliding rail 203, and meanwhile, the scraper 210 and the smearing roller 211 rotate to uniformly smear the lubricant.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides a motion work piece discernment grabbing device based on binocular stereo vision which characterized in that includes:
the device comprises a conveyor (1), wherein a conveying part is arranged on the outer surface of one side of the conveyor (1);
the lubricating mechanism (2) comprises a moving part, a mechanical claw (212), a mounting part, a rotating part, a smearing part and a conveying pipe (206), wherein the moving part is arranged on the conveyor (1), the mounting part and the smearing part are both arranged on the moving part, the mechanical claw (212) is arranged on the mounting part, and the conveying pipe (206) is arranged in the moving part; and
clean mechanism (3), clean mechanism (3) are including power part, two sets of drive disk assembly, two fans (317), clean part, translucent cover (314) and two cameras (315), power part sets up on conveyer (1), and is two sets of drive disk assembly, clean part, translucent cover (314) and two cameras (315) all set up on power part, and two fans (317) set up respectively on two sets of drive disk assembly.
2. The moving workpiece recognition grabbing device based on binocular stereo vision of claim 1, characterized in that: the mounting part comprises two supporting blocks (202), a sliding rail (203) and a sliding block (205), the two supporting blocks (202) are fixedly connected to the top of the conveyor (1), the sliding rail (203) is fixedly connected between the two supporting blocks (202), the sliding block (205) is slidably embedded on the upper surface of the sliding rail (203), the top of the sliding block (205) is fixedly connected with a mechanical claw (212), two mounting grooves are formed in the two sides of the sliding block (205), and a T-shaped partition plate (209) is fixedly connected between the inner walls of the mounting grooves.
3. The moving workpiece recognition grabbing device based on binocular stereo vision of claim 2, characterized in that: the moving part comprises a fixed motor (201) and a threaded rod (204), the fixed motor (201) is fixedly connected with the transmission machine (1), the threaded rod (204) is rotatably connected between the inner walls of the two sides of the sliding rail (203), the outer surface thread of the threaded rod (204) penetrates through the sliding block (205), and the output end of the fixed motor (201) is fixedly connected with one end of the threaded rod (204).
4. The moving workpiece recognition grabbing device based on binocular stereo vision of claim 3, characterized in that: the rotating component comprises two fixed racks (208), four fixed gears (207) and four supporting rods (213), the two fixed racks (208) are respectively and fixedly connected to the outer surfaces of the two sides of the sliding rail (203), the four supporting rods (213) are respectively and rotatably penetrated through the upper surface of the T-shaped partition plate (209), the four fixed gears (207) are respectively sleeved on the outer surfaces of the four supporting rods (213), and the four fixed gears (207) are respectively meshed with the two fixed racks (208).
5. The moving workpiece recognition grabbing device based on binocular stereo vision of claim 4, characterized in that: the smearing component comprises two smearing rollers (211) and two scrapers (210), and the outer surfaces of the four supporting rods (213) are respectively sleeved with the smearing rollers (211) and the scrapers (210).
6. The moving workpiece recognition grabbing device based on binocular stereo vision of claim 5, characterized in that: the power part comprises an installation box (302), an installation motor (301), a fixed box (303) and a fixed rod (306), the bottom of the installation box (302) is close to two vertical rods of the equal fixedly connected with at two sides, two, the bottom ends of the vertical rods are fixedly connected to the top of the conveyor (1), the installation motor (301) is fixedly connected to the top of the installation box (302), the fixed box (303) is fixedly connected to the upper inner wall of the installation box (302), the fixed rod (306) is fixedly connected to the output end of the installation motor (301), the bottom end of the fixed rod (306) is fixedly connected with an installation gear (308), and the camera (315) and the transparent cover (314) are fixedly connected to the bottom of the installation box (302).
7. The moving workpiece recognition grabbing device based on binocular stereo vision of claim 6, characterized in that: every group transmission part all includes connecting rod (305), two fixed disks (312) and two protective frame (313), protective frame (313) fixed connection is in the bottom of install bin (302), connecting rod (305) rotate to be connected between fixed bin (303) and install bin (302), the surface of connecting rod (305) and dead lever (306) is all fixed the cover and is equipped with connecting gear (307), wherein two connecting gear (307) and one of them connecting gear (307) intermeshing, two the surface of fan (317) and connecting rod (305) is located respectively to fixed disks (312) cover, two through the skin looks transmission between fixed disks (312).
8. The moving workpiece recognition grabbing device based on binocular stereo vision of claim 7, characterized in that: cleaning element includes two slide bar (304), two removal rack (310), two drive gear (309), three gag lever post (311), two cleaning brush (316), and is three equal fixed connection of gag lever post (311) is between install bin (302) both sides inner wall, two the surface of three gag lever post (311) is located to cleaning brush (316) equal slip cap, two the one end of removing rack (310) is fixed connection in the top of two cleaning brush (316) respectively, two the equal fixed connection in the bottom of fixed bin (303) of slide bar (304), two slide bar (304) slip respectively and inlay the top of locating two removal rack (310), two drive gear (309) all rotate and connect in the bottom of fixed bin (303), two drive gear (309) all with installation gear (308) intermeshing.
9. The moving workpiece recognizing and grabbing device based on binocular stereo vision as claimed in claim 8, wherein: the transmission part comprises a storage box (4) and a transmission pump (5), the storage box (4) is fixedly connected to the outer surface of one side of the transmission machine (1), the transmission pump (5) is fixedly connected to the top of the storage box (4), the input end of the transmission pump (5) is communicated and connected with the storage box (4), and the output end of the transmission pump (5) is communicated and connected with one end of the transmission pipe (206).
10. The use method of the moving workpiece recognition and grabbing device based on binocular stereo vision is characterized in that the method is applied to the moving workpiece recognition and grabbing device based on binocular stereo vision in any one of claims 1 to 9, and comprises the following steps:
s1, transferring and identifying workpieces: the workpiece is transmitted through the transmitter (1), the camera (315) locks the workpiece, and meanwhile, the fixed motor (201) rotates to drive the threaded rod (204) to rotate, so that the sliding block (205) moves on the sliding rail (203), and the mechanical claw (212) is driven to move to grab and transfer the workpiece;
s2, cleaning the camera: when the camera (315) needs to be cleaned, the mounting motor (301) rotates to drive the fixing rod (306) to rotate, the fixing rod (306) rotates to drive one of the connecting gears (307) to rotate, the other two connecting gears (307) can drive the connecting rod (305) to rotate through meshing between the gears, the connecting rod (305) rotates to drive the fixed disk (312) to rotate to drive the fan (317) to rotate, meanwhile, the fixing rod (306) rotates to drive the mounting gear (308) to rotate, the mounting gear (308) rotates to drive the two transmission gears (309) to rotate, the transmission gears (309) rotate, the two movable racks (310) can drive the two cleaning brushes (316) to approach or separate from each other, and the transparent cover (314) is cleaned;
s3, lubrication protection: when lubrication is needed, when the sliding block (205) moves on the sliding rail (203), the fixed gear (207) is meshed with the fixed rack (208), the fixed gear (207) drives the fixed rod (306) to rotate, the fixed rod (306) drives the scraper (210) and the smearing roller (211) to rotate, the sliding rail (203) is cleaned, the transmission pump (5) transmits lubricant in the storage box (4), the lubricant is transmitted to the sliding rail (203) through the transmission pipe (206), the fixed motor (201) drives the threaded rod (204) to rotate, the sliding block (205) moves on the sliding rail (203), the scraper (210) and the smearing roller (211) rotate simultaneously, and the lubricant is smeared.
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