CN210650660U - Automatic transfer robot - Google Patents
Automatic transfer robot Download PDFInfo
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- CN210650660U CN210650660U CN201921310557.XU CN201921310557U CN210650660U CN 210650660 U CN210650660 U CN 210650660U CN 201921310557 U CN201921310557 U CN 201921310557U CN 210650660 U CN210650660 U CN 210650660U
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Abstract
The utility model discloses an automatic handling robot, which comprises a main frame, a traveling mechanism, a projector, a first camera, a second camera, an mechanical arm and a controller, wherein the traveling mechanism is arranged at the bottom of the main frame, and the projector, the first camera, the second camera, the mechanical arm and the controller are all arranged on the main frame; the advancing mechanism, the mechanical arm, the projector, the first camera and the second camera are respectively connected with the controller. Shooting a top view through a second camera; projecting stripes to a carrying target through a projector, and shooting a stripe pattern by a first camera at the same time; the controller obtains the position of the carrying target according to the stripe diagram and the top view, controls the mechanical arm to clamp the carrying target, can automatically identify the coordinate of the carrying target, and has high automation and intellectualization.
Description
Technical Field
The utility model relates to a haulage equipment field, especially an automatic transfer robot.
Background
In industrial production, a transfer robot is often used to transfer goods, but in general, a transfer robot holds a load at a fixed position according to a program set in a controller. Once the position of goods has changed, just need manual adjustment parameter again, intelligent degree is not high, increases the human cost.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to solve one of the technical problem that exists among the prior art at least, provide an automatic transfer robot, can discern the transport target control arm and realize automatic handling.
The utility model provides a technical scheme that its problem adopted is:
an automated transfer robot comprising:
a main frame;
the traveling mechanism is arranged at the bottom of the main frame;
a projector for projecting stripes to a transport target, the projector being provided on the main frame;
the first camera is used for shooting a stripe pattern of a carrying target and is arranged on the main frame;
the second camera is used for shooting a top view of a carrying target and is connected to the top of the main frame through a telescopic rod, and the direction of the second camera faces the ground;
the mechanical arm is used for clamping a carrying target and arranged on the main frame;
the controller is used for acquiring the position of the carrying target according to the stripe diagram and the top view and controlling the mechanical arm to clamp the carrying target, the controller is arranged in the main frame, and the advancing mechanism, the mechanical arm, the projector, the first camera and the second camera are respectively connected with the controller.
Further, the travel mechanism includes four travel motors, and each travel motor is connected with a wheel.
Further, the bottom of main frame is provided with the infrared range finder that is used for measuring and transport the target distance, infrared range finder with the controller is connected.
Further, the infrared distance meter is a laser sensor of a model VL53L 0X.
Further, the controller is an STM32 processor.
Further, the arm includes rotating base and arm pole, the arm pole sets up rotating base is last, the end of arm pole articulates there is the clamping jaw.
Further, the mechanical arm rod comprises a first arm rod and a second arm rod, one end of the first arm rod is hinged to the rotating base, the other end of the first arm rod is hinged to one end of the second arm rod, and the other end of the second arm rod is hinged to the clamping jaw.
Furthermore, the first arm lever with the articulated department of rotating base is provided with first rotating electrical machines, the first arm lever with the articulated department of second arm lever is provided with the second rotating electrical machines, the second arm lever with the articulated department of clamping jaw is provided with the third rotating electrical machines.
The automatic transfer robot at least has the following beneficial effects: shooting a top view of the carrying target through a second camera; in addition, projecting stripes to the carrying target through the projector, and simultaneously shooting a stripe pattern of the carrying target through the first camera; the first camera conveys the stripe pattern to the controller, the second camera conveys the top view to the controller, the controller obtains x-axis and y-axis coordinates of the carrying target according to the top view and obtains z-axis coordinates of the carrying target according to the stripe pattern by using a stripe projection measurement technology, and the controller controls the mechanical arm to clamp the carrying target according to the three-dimensional coordinates of the carrying target, so that the coordinates of the carrying target can be automatically identified, parameters do not need to be adjusted manually, and the system is highly automatic and intelligent.
Drawings
The invention is further described with reference to the following figures and examples.
Fig. 1 is a structural view of an automatic transfer robot according to an embodiment of the present invention;
fig. 2 is a structural view of a robot arm of an automatic transfer robot according to an embodiment of the present invention.
Detailed Description
This section will describe in detail the embodiments of the present invention, preferred embodiments of the present invention are shown in the attached drawings, which are used to supplement the description of the text part of the specification with figures, so that one can intuitively and vividly understand each technical feature and the whole technical solution of the present invention, but they cannot be understood as the limitation of the protection scope of the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship indicated with respect to the orientation description, such as up, down, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, a plurality of means are one or more, a plurality of means are two or more, and the terms greater than, less than, exceeding, etc. are understood as not including the number, and the terms greater than, less than, within, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless there is an explicit limitation, the words such as setting, installation, connection, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in combination with the specific contents of the technical solution.
Referring to fig. 1, an embodiment of the present invention provides an automatic transfer robot, including:
a main frame 100;
a traveling mechanism 200 provided at the bottom of the main frame 100;
a projector 300 for projecting stripes onto a conveyance target, the projector being provided on the main frame 100;
a first camera 400 for photographing a stripe pattern of a transport target, which is provided on the main frame 100;
the second camera 500 is used for shooting a top view of a carrying target, and is connected to the top of the main frame 100 through a telescopic rod, and the direction of the second camera 500 faces the ground;
a robot 600 for holding a transfer target and provided on the main frame 100;
the controller 700 is configured to acquire a position of a transfer target according to a striped graph and a top view and control the robot arm 600 to clamp the transfer target, the controller 700 is disposed in the main frame 100, and the traveling mechanism 200, the robot arm 600, the projector 300, the first camera 400, and the second camera 500 are respectively connected to the controller 700.
In this embodiment, a top view of the conveyance target is photographed by the second camera 500; in addition, the projector 300 projects stripes onto the transport object, and the first camera 400 captures a stripe pattern of the transport object; the first camera 400 conveys the stripe pattern to the controller 700 and the second camera 500 conveys the top view to the controller 700, the controller 700 acquires x-axis and y-axis coordinates of the transport object according to the top view and acquires z-axis coordinates of the transport object by using a stripe projection measurement technology according to the stripe pattern, and the controller 700 controls the robot 600 to clamp the transport object according to the three-dimensional coordinates of the transport object, so that the coordinates of the transport object can be automatically identified, parameters do not need to be manually adjusted, and the method is highly automated and intelligent.
In particular, the controller 700 is an STM32 processor. The controller 700 receives the top view of the second camera 500, marks the conveyance target with the maximum rectangular frame for the top view, and calculates the coordinates of the center point of the maximum rectangular frame as the X-axis coordinates and the Y-axis coordinates of the conveyance target. The controller 700 receives the fringe pattern of the first camera 400, wherein the fringe pattern includes two fringe patterns with a wavelength of 23 meters and a wavelength of 47 meters, and the controller 700 acquires the z-axis coordinate of the transportation target by using a fringe projection measurement technique, specifically, a measurement technique combining a phase shift topography measurement method and a two-wavelength phase unwrapping algorithm.
Further, the traveling mechanism 200 includes four traveling motors 210, and each traveling motor 210 is connected with a wheel 220. The travel motor 210 powers the wheels 220 to drive the wheels 220 forward.
In another embodiment, an infrared distance meter 800 for measuring a distance to a moving target is disposed at the bottom of the main frame 100, and the infrared distance meter 800 is connected to the controller 700. Specifically, the infrared distance meter 800 is a laser sensor model VL53L 0X. The infrared distance meter 800 transmits the measured distance to the transport target to the controller 700, and when the distance to the transport target is equal to the target distance set in the controller 700, the controller 700 transmits a stop signal to the traveling mechanism 200 to stop the traveling mechanism 200 from operating.
Referring to fig. 2, in another embodiment, the robot arm 600 includes a rotating base 610 and a robot arm lever 620, the robot arm lever 620 is disposed on the rotating base 610, and a clamping jaw 630 is hinged to a distal end of the robot arm lever 620. A driving motor is provided in the rotary base 610 to allow the arm 620 to rotate left and right, and the gripping jaw 630 is used to grip a carrying object.
Further, the arm lever 620 includes a first arm lever 621 and a second arm lever 622, one end of the first arm lever 621 is hinged to the rotating base 610, the other end of the first arm lever 621 is hinged to one end of the second arm lever 622, and the other end of the second arm lever 622 is hinged to the clamping jaw 630. Specifically, the first arm 621 and the second arm 622 are equal in length.
Further, a first rotating motor 641 is disposed at the hinge of the first arm 621 and the rotating base 610, a second rotating motor 642 is disposed at the hinge of the first arm 621 and the second arm 622, and a third rotating motor 643 is disposed at the hinge of the second arm 622 and the clamping jaw 630. The first rotating motor 641 rotates the first arm 621 around the hinge of the first arm 621 and the rotating base 610; the second rotating motor 642 rotates the second arm 622 around the hinge of the first arm 621 and the second arm 622; a third rotation motor 643 rotates the jaws 630 about the hinge of the second arm 622 to the jaws 630.
The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above embodiment, and the technical effects of the present invention can be achieved by the same means, which all belong to the protection scope of the present invention.
Claims (8)
1. An automated handling robot, comprising:
a main frame;
the traveling mechanism is arranged at the bottom of the main frame;
a projector for projecting stripes to a transport target, the projector being provided on the main frame;
the first camera is used for shooting a stripe pattern of a carrying target and is arranged on the main frame;
the second camera is used for shooting a top view of a carrying target and is connected to the top of the main frame through a telescopic rod, and the direction of the second camera faces the ground;
the mechanical arm is used for clamping a carrying target and arranged on the main frame;
the controller is used for acquiring the position of the carrying target according to the stripe diagram and the top view and controlling the mechanical arm to clamp the carrying target, the controller is arranged in the main frame, and the advancing mechanism, the mechanical arm, the projector, the first camera and the second camera are respectively connected with the controller.
2. The automated handling robot of claim 1, wherein the travel mechanism comprises four travel motors, one wheel being connected to each travel motor.
3. The robot handler of claim 1, wherein the main frame is provided at a bottom thereof with an infrared distance meter for measuring a distance to a handling target, and the infrared distance meter is connected to the controller.
4. The automated handling robot of claim 3, wherein the infrared range finder is a laser sensor model VL53L 0X.
5. An automated handling robot according to claim 1, wherein said controller is an STM32 processor.
6. The automated handling robot of claim 1, wherein the robotic arm comprises a rotating base and a robotic arm lever, the robotic arm lever being disposed on the rotating base, a distal end of the robotic arm lever being hinged to a gripping jaw.
7. The automated handling robot of claim 6, wherein the arm comprises a first arm and a second arm, one end of the first arm is hinged to the rotating base, the other end of the first arm is hinged to one end of the second arm, and the other end of the second arm is hinged to the gripper.
8. The automated transfer robot of claim 7, wherein a first rotating motor is provided at the joint of the first arm and the rotating base, a second rotating motor is provided at the joint of the first arm and the second arm, and a third rotating motor is provided at the joint of the second arm and the clamping jaw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921310557.XU CN210650660U (en) | 2019-08-13 | 2019-08-13 | Automatic transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921310557.XU CN210650660U (en) | 2019-08-13 | 2019-08-13 | Automatic transfer robot |
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| Publication Number | Publication Date |
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| CN210650660U true CN210650660U (en) | 2020-06-02 |
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| CN201921310557.XU Active CN210650660U (en) | 2019-08-13 | 2019-08-13 | Automatic transfer robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111924269A (en) * | 2020-07-30 | 2020-11-13 | 五邑大学 | Multifunctional intelligent following chassis |
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2019
- 2019-08-13 CN CN201921310557.XU patent/CN210650660U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111924269A (en) * | 2020-07-30 | 2020-11-13 | 五邑大学 | Multifunctional intelligent following chassis |
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