CN210593668U - Remove both arms handling device based on binocular vision - Google Patents
Remove both arms handling device based on binocular vision Download PDFInfo
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- CN210593668U CN210593668U CN201921052171.3U CN201921052171U CN210593668U CN 210593668 U CN210593668 U CN 210593668U CN 201921052171 U CN201921052171 U CN 201921052171U CN 210593668 U CN210593668 U CN 210593668U
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Abstract
The utility model discloses a moving double-arm carrying device based on binocular vision, which comprises an elevating sliding table mechanism, a double-arm carrying mechanism, a moving mechanism, a binocular vision detection mechanism and an alarm, wherein the elevating sliding table mechanism is fixedly arranged on the moving mechanism; the binocular vision detection mechanism is arranged at the bottom of the lifting type sliding table mechanism; the double-arm carrying mechanism is arranged on the upper part of the lifting type sliding table mechanism and slides up and down on the lifting type sliding table mechanism; the moving mechanism is used for controlling the forward motion and the direction change of the whole moving double-arm carrying device; the binocular vision detection mechanism is used for accurately identifying and positioning the position and size of the goods; the lifting type sliding table mechanism and the double-arm carrying mechanism cooperate to adjust the size and the height of the carried goods so as to realize self-adaptive carrying; the alarm is arranged at one end of the moving mechanism, is in wireless communication connection with the binocular vision detection mechanism and is used for carrying out overrun early warning according to the size and weight of goods.
Description
Technical Field
The utility model relates to a storehouse removes transport technical field, concretely relates to remove both arms handling device based on binocular vision.
Background
The orderly putting of goods in factory storehouse generally needs a large amount of manpower transport, and reduces hire workman's labour and improves handling efficiency and become the first order problem of factory collection dress transport, not only consumes a large amount of manpower and materials through artifical transport, and efficiency is very low moreover, and current unmanned factory's of relevance mobile robot patent is as follows:
the CN109131614A patent document discloses an improved intelligent mobile robot for factory, which uses tracked wheels and a dynamic mechanism to promote the movement of the mobile robot, and controls a rotating mechanism and a pushing shaft mechanism to pick and place goods, and the pushing shaft has flexibility, so that the goods can be stored remotely. The swing mechanism and the rotating body can rotate, the mobile robot can be adjusted according to the height and the turnover angle of the goods, the working range of the mobile robot is widened, and the mobile robot has good maneuverability. Although this mobile robot can transport a load, it has the following problems:
1. the push plate mechanism fixedly mounted on the rack has limited capacity, does not consider the change of the lengths and the thicknesses of the cargos at different positions, cannot be adaptively adjusted according to the sizes of the cargos when the cargos are stored, and is limited in the application of the cargos.
2. The rotating mechanism rotates and the push shaft mechanism swings up and down, certain precision calculation is needed, a large amount of goods cause huge load to the rotating mechanism and the push shaft mechanism in the collecting process, the long-term use is easy to cause friction damage, and the service life of the rotary mechanism and the push shaft mechanism is greatly shortened.
3. The mobile robot cannot detect the access position of a target cargo in real time, cannot position and access the position and the direction of an article, does not completely solve the problem of paying out of manual labor force in actual work, needs a worker to ceaselessly control the mobile vehicle body, the rotating mechanism and the shaft pushing mechanism, consumes certain manual labor force, and has relatively low automation degree and some technical defects.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical defect that current removal handling device exists, and provide a remove both arms handling device based on binocular vision, the device transport access efficiency is high, long service life, and the maintenance cost is low, moves safety.
Realize the utility model discloses the technical scheme of purpose is:
a moving double-arm carrying device based on binocular vision comprises a lifting type sliding table mechanism, a double-arm carrying mechanism, a moving mechanism, a binocular vision detection mechanism and an alarm, wherein the lifting type sliding table mechanism is fixedly arranged on the moving mechanism; the double-arm carrying mechanism and the binocular vision detection mechanism are arranged on the lifting type sliding table mechanism; the binocular vision detection mechanism is arranged at the bottom of the lifting type sliding table mechanism; the double-arm carrying mechanism is arranged on the upper part of the lifting type sliding table mechanism and slides up and down on the lifting type sliding table mechanism; the moving mechanism is used for controlling the forward motion and the direction change of the whole moving double-arm carrying device; the binocular vision detection mechanism is used for accurately identifying and positioning the position and size of the goods; the lifting type sliding table mechanism and the double-arm carrying mechanism cooperate to adjust the size and the height of the carried goods so as to realize self-adaptive carrying; the alarm is arranged at one end of the moving mechanism, is in wireless communication connection with the binocular vision detection mechanism and is used for carrying out overrun early warning according to the size and weight of goods.
The moving mechanism comprises a bottom plate support, a driving wheel and a driven wheel, wherein the driving wheel and the driven wheel are respectively and symmetrically arranged at two ends of the bottom plate support and are connected with the bottom plate support through wheel shafts, and a rotating motor used for driving the driving wheel is arranged on the driving wheel.
And an auxiliary wheel is also arranged between the driving wheel and the driven wheel.
The lifting type sliding table mechanism comprises a support and support frames, the support frames are vertically and symmetrically fixed at two ends of the support, an electric screw rod sliding table is arranged on each support frame, a sliding groove is formed in one side of each electric screw rod sliding table, a moving connector is arranged on each sliding groove, and a lifting motor used for driving the moving connector to slide up and down on each sliding groove is further arranged on each support frame.
Binocular vision detection mechanism, including a vision camera and No. two vision cameras, a vision camera and No. two vision camera bottom all are equipped with the rotatory camera rotating electrical machines of control camera, camera rotating electrical machines fixes on the support of over-and-under type slip table mechanism.
The double-arm carrying mechanism comprises a first mechanical arm and a second mechanical arm, wherein the first mechanical arm and the second mechanical arm are respectively arranged on a movable connector of the lifting type sliding table mechanism;
the first mechanical arm and the second mechanical arm respectively comprise a base, a shoulder, an elbow, a wrist and a hand; the base is fixed on the movable connector; one end of the shoulder is movably connected with the base, and the other end of the shoulder is movably connected with one end of the elbow; the other end of the elbow is movably connected with the wrist; the hand part is arranged on the wrist part and is movably connected with the wrist part.
And the first mechanical arm and the second mechanical arm are both provided with weight sensors, and the weight sensors are in communication connection with the alarm.
The first mechanical arm and the second mechanical arm are UR10 mechanical arms.
A use method of a mobile double-arm carrying device based on binocular vision comprises the following steps:
1) continuously and rotationally scanning the ground and the conditions on a storage shelf by a first vision camera and a second vision camera which are positioned on a bracket, determining the position and the size of stored goods by a given access signal, and transmitting the signal to a moving mechanism;
2) when the binocular vision detection mechanism detects that the height of the stored goods is high, the movable coupler is controlled to ascend, the working height of the mechanical arm is improved, otherwise, when the binocular vision detection mechanism detects that the height of the stored goods is low, the movable coupler is controlled to descend, the working height of the mechanical arm is reduced, and meanwhile, after the moving mechanism receives a signal, the movable double-arm carrying device is enabled to rapidly move to the position where the stored goods are located by controlling a rotating motor of the moving mechanism, the first mechanical arm and the second mechanical arm are driven to move and adjust to the required distance, the stored goods are clamped, and unmanned pose self-adaption of a factory is achieved;
3) in the process of storing and taking goods, the length, the width and the height of the goods are detected and identified through the binocular vision detection mechanism, signals are transmitted to the alarm, and when the size of the goods exceeds the working range of the movable double-arm carrying device, the alarm sends out alarm signals; and meanwhile, the weight sensors on the first mechanical arm and the second mechanical arm detect the load, and when the weight of the goods exceeds the rated load of the movable double-arm carrying device, the alarm is controlled to send out an alarm signal.
Compared with the prior art, the utility model discloses following outstanding effect has:
1. the utility model provides a remove both arms handling device based on binocular vision, constantly rotatory scanning needs the position information of access goods through the binocular vision camera that is located on the device, it is rotatory through drive rotating electrical machines and then control wheel, it removes to the goods position region to remove both arms handling device, and simultaneously, adopt the size of the distinguishable goods of binocular vision detection mechanism, length according to the goods, width and altitude mixture control, the removal of control over-and-under type slip table mechanism, realize the self-adaptation access goods of both arms, the efficiency of mill's goods access has effectively been improved, realize intellectuality, unmanned goods access.
2. The utility model provides a remove both arms handling device based on binocular vision through the over-and-under type slip table mechanism that adopts to have the arm, has effectively reduced the heavy load and the friction loss that traditional push pedal produced, is fit for long-term continuous use, its life of greatly increased, extension maintenance cycle, reduction maintenance cost.
3. The utility model provides a remove both arms handling device based on binocular vision can realize self-adaptation's access goods according to the big or small automatically regulated over-and-under type slip table of goods highly and the distance that opens and shuts between two arms, need not manual operation, and has alarm device, has guaranteed the safe operation of removing both arms handling device, has realized the goods access of automatic factory.
Drawings
Fig. 1 is a side view of a mechanical structure of a mobile double-arm carrying device based on binocular vision;
fig. 2 is a front view of a mechanical structure of a binocular vision-based mobile double-arm carrying device of the present invention;
fig. 3 is a top view of the mechanical structure of the mobile double-arm carrying device based on binocular vision;
the system comprises an elevating sliding table mechanism 1, a support frame 102, a support frame 103, an electric screw rod sliding table 104, a movable connector 105, an elevating motor 106, a sliding groove 2, a double-arm carrying mechanism 201, a base 202, a shoulder 203, an elbow 204, a wrist 205, a hand 206, a weight sensor 3, a moving mechanism 301, a bottom plate support 302, a driving wheel 303, an auxiliary wheel 304, a driven wheel 305, a wheel shaft 306, a rotating motor 4, a binocular vision detection mechanism 401, a first vision camera 402, a second vision camera 403, a camera rotating motor 5 and an alarm.
Detailed Description
The present invention will be further explained with reference to the drawings and examples, but the present invention is not limited thereto.
Example (b):
as shown in fig. 1, 2 and 3, a binocular vision-based mobile double-arm carrying device comprises a lifting type sliding table mechanism 1, a double-arm carrying mechanism 2, a moving mechanism 3, a binocular vision detection mechanism 4 and an alarm 5; the lifting type sliding table mechanism 1 is fixedly arranged on the moving mechanism 3; the double-arm carrying mechanism 2 and the binocular vision detection mechanism 4 are arranged on the lifting type sliding table mechanism 1; the binocular vision detection mechanism 4 is arranged at the bottom of the lifting type sliding table mechanism 1; the double-arm carrying mechanism 2 is arranged on the upper part of the lifting type sliding table mechanism 1 and slides up and down on the lifting type sliding table mechanism 1; the moving mechanism is used for controlling the forward motion and the direction change of the whole moving double-arm carrying device; the binocular vision detection mechanism 4 is used for accurately identifying the position and size of positioned goods, positioning the goods and transmitting signals to the lifting type sliding table mechanism 1 and the double-arm carrying mechanism 2, and the lifting type sliding table mechanism 1 and the double-arm carrying mechanism 2 cooperate with each other after receiving the signals to adjust the size and height of the carried goods so as to realize self-adaptive carrying; the alarm 5 is arranged at one end of the moving mechanism 3, is in wireless communication connection with the binocular vision detector 4, and is used for performing out-of-limit early warning according to the size and weight of goods.
The moving mechanism 3 comprises a bottom plate bracket 301, a driving wheel 302, an auxiliary wheel 303, a driven wheel 304, wheel shafts 305 and a rotating motor 306, wherein the driving wheel 302 and the driven wheel 304 are respectively and symmetrically arranged at two ends of the bottom plate bracket 301 and connected with the bottom plate bracket 301 through the wheel shafts 305, and the driving wheel 302 is provided with the rotating motor 306 for driving the driving wheel 302.
An auxiliary wheel 303 is further arranged between the driving wheel 302 and the driven wheel 304.
The lifting type sliding table mechanism 1 comprises a support 101, support frames 102, electric screw rod sliding tables 103, a movable connector 104, a lifting motor 105 and sliding grooves 106, wherein the support frames 102 are vertically and symmetrically fixed at two ends of the support 101, the electric screw rod sliding tables 102 are arranged on the support frame at each end, the sliding grooves 106 are arranged on one sides of the electric screw rod sliding tables 102, the movable connector 104 is arranged on the sliding grooves 106, and the lifting motor 104 for driving the movable connector 103 to slide up and down on the sliding grooves 106 is further arranged on the support frames 102.
Binocular vision detection mechanism 4, including a vision camera 401 and No. two vision cameras 402, a vision camera 401 and No. two vision cameras 402 bottom all are equipped with the rotatory camera rotating electrical machines 403 of control camera, a vision camera 401 and No. two vision cameras 402 and camera rotating electrical machines 403 bearing connection, camera rotating electrical machines 403 is fixed on over-and-under type slip table mechanism 1's support 101.
The double-arm carrying mechanism 2 comprises a first mechanical arm and a second mechanical arm, wherein the first mechanical arm and the second mechanical arm are respectively arranged on the movable connector 104 of the lifting type sliding table mechanism 1, and the movable connector 104 is driven to slide up and down under the action of the lifting motor 105, so that the lifting movement of the first mechanical arm and the second mechanical arm is realized;
the first mechanical arm and the second mechanical arm respectively comprise a base 201, a shoulder 202, an elbow 203, a wrist 204 and a hand 205; the base 201 is fixed on the moving coupler 104; one end of the shoulder 202 is movably connected with the base 201, and the other end is movably connected with one end of the elbow 203; the other end of the elbow 203 is movably connected with the wrist 204; the hand 205 is arranged on the wrist 204 and movably connected with the wrist 204 for clamping the target cargo.
The first mechanical arm and the second mechanical arm are provided with weight sensors 206, and the weight sensors 206 are in communication connection with the alarm 5.
The first mechanical arm and the second mechanical arm are UR10 mechanical arms.
A use method of a mobile double-arm carrying device based on binocular vision comprises the following steps:
1) continuously and rotatably scanning the ground and the conditions on a storage shelf by a first vision camera 401 and a second vision camera 402 which are positioned on the bracket 101, determining the position and the size of the stored goods by a given access signal, and transmitting the signal to the moving mechanism 3;
2) when the binocular vision detection mechanism 4 detects that the height of the stored goods is high, the movable coupler 104 is controlled to ascend, the working height of the mechanical arm is improved, otherwise, when the binocular vision detection mechanism 4 detects that the height of the stored goods is low, the movable coupler 104 is controlled to descend, the working height of the mechanical arm is reduced, and meanwhile, after the movable mechanism 3 receives a signal, the movable double-arm carrying device is enabled to rapidly move to the position where the stored goods are located by controlling the rotary motor 306 of the movable mechanism 3, the first mechanical arm and the second mechanical arm are driven to move and adjust to the required pose and space, the stored goods are clamped, and the unmanned self-adaptive goods storage and taking in a factory are achieved;
3) in the process of storing and taking goods, the binocular vision detection mechanism 4 is used for detecting and identifying the length, the width and the height of the goods and transmitting signals to the alarm 5, and when the size of the goods exceeds the working range of the movable double-arm carrying device, the alarm 5 sends out alarm signals; meanwhile, the weight sensors 206 on the first mechanical arm and the second mechanical arm detect the load, and when the weight of the goods exceeds the rated load of the movable double-arm carrying device, the alarm is controlled to send out an alarm signal.
This device is at the transport goods in-process, and when binocular vision detection mechanism 4 detected the goods that need carry more, can control over-and-under type slip table mechanism 1, both arms transport mechanism 2, moving mechanism 3 and move with higher speed, improve the speed of goods transport.
Claims (7)
1. A moving double-arm carrying device based on binocular vision is characterized by comprising a lifting type sliding table mechanism, a double-arm carrying mechanism, a moving mechanism, a binocular vision detection mechanism and an alarm, wherein the lifting type sliding table mechanism is fixedly arranged on the moving mechanism; the double-arm carrying mechanism and the binocular vision detection mechanism are arranged on the lifting type sliding table mechanism; the binocular vision detection mechanism is arranged at the bottom of the lifting type sliding table mechanism; the double-arm carrying mechanism is arranged on the upper part of the lifting type sliding table mechanism and slides up and down on the lifting type sliding table mechanism; the moving mechanism is used for controlling the forward motion and the direction change of the whole moving double-arm carrying device; the binocular vision detection mechanism is used for accurately identifying and positioning the position and size of the goods; the lifting type sliding table mechanism and the double-arm carrying mechanism cooperate to adjust the size and the height of the carried goods so as to realize self-adaptive carrying; the alarm is arranged at one end of the moving mechanism, is in wireless communication connection with the binocular vision detection mechanism and is used for carrying out overrun early warning according to the size and weight of goods.
2. The binocular vision-based mobile double-arm carrying device as claimed in claim 1, wherein the moving mechanism comprises a bottom plate support, a driving wheel and a driven wheel, the driving wheel and the driven wheel are respectively symmetrically arranged at two ends of the bottom plate support and connected with the bottom plate support through wheel shafts, and a rotating motor for driving the driving wheel is arranged on the driving wheel.
3. The binocular vision based mobile double-arm carrying device as claimed in claim 2, wherein auxiliary wheels are further arranged between the driving wheel and the driven wheel.
4. The binocular vision-based mobile double-arm carrying device is characterized in that the lifting type sliding table mechanism comprises a support and support frames, the support frames are vertically and symmetrically fixed at two ends of the support, an electric screw rod sliding table is arranged on each support frame, a sliding groove is formed in one side of each electric screw rod sliding table, a mobile connector is arranged on each sliding groove, and a lifting motor used for driving the mobile connector to slide up and down on each sliding groove is further arranged on each support frame.
5. The binocular vision based mobile double-arm carrying device is characterized in that the binocular vision detection mechanism comprises a first vision camera and a second vision camera, camera rotating motors for controlling the rotation of the cameras are arranged at the bottoms of the first vision camera and the second vision camera, and the camera rotating motors are fixed on a support of the lifting type sliding table mechanism.
6. The binocular vision-based mobile double-arm carrying device is characterized in that the double-arm carrying mechanism comprises a first mechanical arm and a second mechanical arm, wherein the first mechanical arm and the second mechanical arm are respectively arranged on a mobile connector of the lifting type sliding table mechanism;
the first mechanical arm and the second mechanical arm respectively comprise a base, a shoulder, an elbow, a wrist and a hand; the base is fixed on the movable connector; one end of the shoulder is movably connected with the base, and the other end of the shoulder is movably connected with one end of the elbow; the other end of the elbow is movably connected with the wrist; the hand part is arranged on the wrist part and is movably connected with the wrist part.
7. The binocular vision based mobile double-arm carrying device is characterized in that a weight sensor is arranged on the first mechanical arm and the second mechanical arm, and the weight sensors are in communication connection with an alarm; the first mechanical arm and the second mechanical arm are UR10 mechanical arms.
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| CN201921052171.3U CN210593668U (en) | 2019-07-08 | 2019-07-08 | Remove both arms handling device based on binocular vision |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110239869A (en) * | 2019-07-08 | 2019-09-17 | 桂林电子科技大学 | A kind of mobile both arms handling device and its application method based on binocular vision |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110239869A (en) * | 2019-07-08 | 2019-09-17 | 桂林电子科技大学 | A kind of mobile both arms handling device and its application method based on binocular vision |
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