CN208051910U - A kind of transhipment conditioning machines people - Google Patents
A kind of transhipment conditioning machines people Download PDFInfo
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- CN208051910U CN208051910U CN201820414382.6U CN201820414382U CN208051910U CN 208051910 U CN208051910 U CN 208051910U CN 201820414382 U CN201820414382 U CN 201820414382U CN 208051910 U CN208051910 U CN 208051910U
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- upper torso
- mechanical arm
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- machines people
- trunk
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Abstract
The utility model provides a kind of transhipment conditioning machines people, including robot trunk, robot trunk is divided into upper torso and lower torso, the 360 degree of rotations of energy of upper torso opposing lower portions trunk, head is connected at the top of upper torso, upper torso top both sides are connected with mechanical arm, and the bottom of lower torso is connected with moving portion.Mechanical arm includes the shoulder joint being rotatablely connected with upper torso, the front end of shoulder joint is rotatably connected to elbow joint, and the front end of elbow joint is connected with large arm, and the front end of large arm is rotatably connected to wrist joint, carpal front end is connected with forearm, and the front end of forearm is rotatably connected to gripper.Moving portion includes pedestal, and the bottom of pedestal is equipped with Mecanum wheel.Robot orderly puts it while transshipment cargo, can effectively improve production efficiency.Robot is furnished with vision system, can effectively carry out the arrangement and carrying of cargo, improves the efficiency of cargo arrangement, saves a large amount of human and material resources.
Description
Technical field
The utility model is related to field in intelligent robotics, and in particular to a kind of transhipment conditioning machines people.
Background technology
Investigation display, China carry out cargo arrangement in enterprise production process, by manpower and occupy sizable ratio.Mesh
Before, cargo arrangement in China's is a large-scale industry, but there are densification degree height, manpower and fund inputs for cargo arrangement
Greatly, the problems such as cost high efficiency is low.The stacking, transfer and arrangement of product are steps necessary in production process in factory, only
By worker's not only labor intensive, but also capacity efficiency is extremely low.Traditional hand stowage, promote that difficult, operation is difficult, training is difficult and
Without connectivity, operating cost height and low production efficiency；High-order stacking machine stacking speed is fast, but body is huge, the requirement to space
Relatively high, function can only realize that part simple operations, vulnerable part are not easy to care and maintenance more less, not applicable to small business.
With the fast development of science and technology, more and more plant produceds are intended to intelligence, intelligentized plant produced fortune
Not only efficiency is higher than worker for work, but also the intelligent production precision of programmable operations is also more accurate than worker.Robot starts gradually
Favored by factory, therefore, a kind of transhipment conditioning machines people of design is necessary.
Utility model content
Existing deficiency is arranged for existing cargo, the utility model provides a kind of transhipment conditioning machines people, can be effective
Progress cargo arrangement and carrying, improve cargo arrangement efficiency, save a large amount of human and material resources.
The utility model uses technical solution below：
A kind of transhipment conditioning machines people, including robot trunk, robot trunk are divided into upper torso and lower torso, on
360 degree of portion's trunk opposing lower portions trunk energy rotates, and head is connected at the top of the upper torso, and upper torso top both sides connect
It is connected to mechanical arm, the bottom of lower torso is connected with moving portion；
The mechanical arm includes the shoulder joint being rotatablely connected with upper torso, and the front end of shoulder joint is rotatably connected to elbow pass
Section, the front end of elbow joint are connected with large arm, and the front end of large arm is rotatably connected to wrist joint, and carpal front end is connected with forearm,
The front end of forearm is rotatably connected to gripper；
The moving portion includes pedestal, and the bottom of pedestal is equipped with multiple movable castors.
Preferably, in the head be equipped with vision system, vision system include arm processor, COMS imaging sensors and
High definition camera, high definition camera are connected with COMS imaging sensors, and COMS imaging sensors are connected with arm processor；
It is provided with PLC control system in the upper torso；
It is provided with sensing system in the mechanical arm；
Lithium battery is housed in the pedestal；
Lithium battery is respectively mechanical arm, vision system, PLC control system and sensing system power supply；
Arm processor, sensing system, mechanical arm and movable castor are connected with PLC control system.
Preferably, the sensing system includes position sensor and gravity sensor, and position sensor can monitor in real time
The location information of mechanical arm, and give to PLC system processing；Gravity sensor can incude the weight of cargo in manipulator, and will
Weight information is sent to PLC system processing.
Preferably, the image of the high definition camera shooting, send to arm processor through COMS imaging sensors and handles, at ARM
It is sent to PLC control system after reason device processing, PLC control system independently differentiates body form according to image, selectes suitable crawl position
It sets.
Preferably, the gripper includes rotary wrist, and multiple support plates are connected on rotary wrist, and support plate is connected with
Connecting plate, connecting plate are connected with holding finger.
The utility model has an advantageous effect in that：
Transhipment conditioning machines people provided by the utility model is a kind of robot for transporting and arranging, and robot is turning
It is orderly put while cargo transport object, a variety of occasions for being suitable for carrying with arranging can effectively improve production efficiency.Robot
Equipped with free-moving pedestal and apery class both arms, it can be achieved that multivariant movement；The robot is furnished with vision system simultaneously,
The arrangement and carrying that cargo can effectively be carried out improve the efficiency of cargo arrangement, save a large amount of human and material resources.
Description of the drawings
Fig. 1 is the structural schematic diagram for transporting conditioning machines people.
Fig. 2 is the structural schematic diagram of mechanical arm.
Fig. 3 is the structural schematic diagram of gripper.
Fig. 4 is that transhipment conditioning machines people controls procedural block diagram.
Specific implementation mode
Specific embodiment of the present utility model is described further in the following with reference to the drawings and specific embodiments：
In conjunction with Fig. 1 to Fig. 4, a kind of transhipment conditioning machines people, including robot trunk, robot trunk are divided into upper torso
1 and lower torso 2,1 opposing lower portions trunk of upper torso 2 can 360 degree rotate.
Wherein, the top of upper torso 1 is connected with head 3, and 1 top both sides of upper torso are connected with mechanical arm, lower part
The bottom of trunk is connected with moving portion.
Mechanical arm includes the shoulder joint 4 being rotatablely connected with upper torso, and the front end of shoulder joint is rotatably connected to elbow joint
5, the front end of elbow joint is connected with large arm 6, and the front end of large arm is rotatably connected to wrist joint 7, and carpal front end is connected with forearm
8, the front end of forearm is rotatably connected to gripper 9.
As shown in figure 4, gripper includes rotary wrist 12, multiple support plates 13 are connected on rotary wrist, support plate connects
It is connected to connecting plate 14, connecting plate is connected with holding finger 15.
Moving portion includes pedestal 10, and the bottom of pedestal is equipped with multiple movable castors 11, specifically, movable castor is Mike
Na Mu takes turns, and there are four Mecanum wheels.
Vision system is housed in head, vision system includes arm processor, COMS imaging sensors and high definition camera,
High definition camera is connected with COMS imaging sensors, and COMS imaging sensors are connected with arm processor.
PLC control system is provided in upper torso.
Sensing system is provided in mechanical arm.
Lithium battery is housed in pedestal.
Lithium battery is respectively mechanical arm, vision system, PLC control system and sensing system power supply.
Arm processor, sensing system, mechanical arm and movable castor are connected with PLC control system.
The image of high definition camera shooting is sent through COMS imaging sensors to arm processor processing, after arm processor processing
It send to PLC control system, PLC control system independently differentiates body form according to image, selectes suitable crawl position.
Sensing system includes position sensor and gravity sensor, and position sensor can monitor the position of mechanical arm in real time
Confidence ceases, and send to PLC system processing；Gravity sensor can incude the weight of cargo in manipulator, and by weight information send to
PLC system processing.
PLC control system can control Mecanum wheel movement, and the movement of control machinery arm, crawl and arrangement of goods also can
Control upper torso rotation.
The video data of cmos image sensor acquisition enters arm processor data-interface by 8 digital video data/address bus,
This video data is stored in SDRAM memory by arm processor；Or this compression of images is deposited into people SDRAM at jpeg format again and is deposited
Reservoir.Arm processor controls cmos image sensor by control interface, and control interface includes iic bus and by ARM processing
HSYNC the and VSYNC signals etc. of cmos image sensor master clock signal, reset signal and imaging sensor that device provides, from
And independently distinguish, precisely capture.
Vision system can independently complete cargo identification, location determination, and accurate crawl such as orderly puts at a series of action,
Improve the efficiency and quality of cargo arrangement.
Mechanical arm uses biomimetic features, makes design more hommization.Mechanical arm copies mankind's both arms to design, and adds
Can 360 degree rotation pedestal, realize multifreedom motion, increase the flexibility of robot motion, different surfaces shape can be captured
The different location of shape cargo.
Mecanum wheel moving direction randomness it is larger, it can be achieved that in plane any direction translation and steering, ensure
Robot is in the accuracy on the move that works.
Gravity sensor in mechanical arm can incude goods weight, to export suitable grasping force, ensure cargo
It is not damaged, placement position is moved to when cargo is crawled, cargo contacts to earth gravity reduction, and mechanical arm decontrols, avoid automatically
Cargo caused by misoperation falls off.
PLC control system obtains order, dominates mechanical arm and is moved by regulated procedure.People give the finger of mechanical arm
Information is enabled to be combined with robotic vision system, control machinery arm automated operation.Position sensor is combined with vision system
Backfeed loop, the movement position of control machinery arm are formed, and the physical location of mechanical arm is fed back into PLC controls system at any time
System, and be compared with the position of setting, it is then adjusted by control system, to make mechanical arm with certain precision
Reach setting position, makes entirely to transport arrangement processing efficient running.
Certainly, the above description is not intended to limit the present invention, and the utility model is also not limited to the example above,
The variations, modifications, additions or substitutions that those skilled in the art are made in the essential scope of the utility model, are also answered
Belong to the scope of protection of the utility model.
Claims (5)
1. a kind of transhipment conditioning machines people, which is characterized in that including robot trunk, robot trunk is divided into upper torso under
Portion's trunk, 360 degree of upper torso opposing lower portions trunk energy rotate, and head, upper torso are connected at the top of the upper torso
Top both sides are connected with mechanical arm, and the bottom of lower torso is connected with moving portion；
The mechanical arm includes the shoulder joint being rotatablely connected with upper torso, and the front end of shoulder joint is rotatably connected to elbow joint,
The front end of elbow joint is connected with large arm, and the front end of large arm is rotatably connected to wrist joint, and carpal front end is connected with forearm, forearm
Front end be rotatably connected to gripper；
The moving portion includes pedestal, and the bottom of pedestal is equipped with multiple movable castors.
2. a kind of transhipment conditioning machines people according to claim 1, which is characterized in that vision system is housed in the head
System, vision system include arm processor, COMS imaging sensors and high definition camera, high definition camera and COMS imaging sensor phases
Even, COMS imaging sensors are connected with arm processor；
It is provided with PLC control system in the upper torso；
It is provided with sensing system in the mechanical arm；
Lithium battery is housed in the pedestal；
Lithium battery is respectively mechanical arm, vision system, PLC control system and sensing system power supply；
Arm processor, sensing system, mechanical arm and movable castor are connected with PLC control system.
3. a kind of transhipment conditioning machines people according to claim 2, which is characterized in that the sensing system includes position
Sensor and gravity sensor, position sensor can monitor the location information of mechanical arm in real time, and send to PLC system processing；
Gravity sensor can incude the weight of cargo in manipulator, and weight information is sent to PLC system processing.
4. a kind of transhipment conditioning machines people according to claim 2, which is characterized in that the figure of the high definition camera shooting
Picture is sent through COMS imaging sensors to arm processor processing, is sent after arm processor processing to PLC control system, PLC controls system
System independently differentiates body form according to image, selectes suitable crawl position.
5. a kind of transhipment conditioning machines people according to claim 1, which is characterized in that the gripper includes rotation hand
Wrist is connected with multiple support plates on rotary wrist, and support plate is connected with connecting plate, and connecting plate is connected with holding finger.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820414382.6U CN208051910U (en) | 2018-03-27 | 2018-03-27 | A kind of transhipment conditioning machines people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820414382.6U CN208051910U (en) | 2018-03-27 | 2018-03-27 | A kind of transhipment conditioning machines people |
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| Publication Number | Publication Date |
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| CN208051910U true CN208051910U (en) | 2018-11-06 |
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| CN201820414382.6U Active CN208051910U (en) | 2018-03-27 | 2018-03-27 | A kind of transhipment conditioning machines people |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108436882A (en) * | 2018-03-27 | 2018-08-24 | 山东科技大学 | A kind of transhipment conditioning machines people |
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2018
- 2018-03-27 CN CN201820414382.6U patent/CN208051910U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108436882A (en) * | 2018-03-27 | 2018-08-24 | 山东科技大学 | A kind of transhipment conditioning machines people |
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