CN210655225U - Unordered grabbing device of robot based on 3D camera - Google Patents
Unordered grabbing device of robot based on 3D camera Download PDFInfo
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- CN210655225U CN210655225U CN201921667379.6U CN201921667379U CN210655225U CN 210655225 U CN210655225 U CN 210655225U CN 201921667379 U CN201921667379 U CN 201921667379U CN 210655225 U CN210655225 U CN 210655225U
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Abstract
The utility model relates to an unordered grabbing device of robot based on 3D camera, its characterized in that: the automatic feeding and discharging device comprises a workbench, a material taking disc, a material placing disc, a sucker, a robot, a 3D camera and a material receiving mechanism, wherein the material receiving mechanism is arranged on one side of the workbench and comprises a control cabinet, a machine frame, a lifting frame, a guide rod, a material box and a material box lifting mechanism; the utility model discloses a take-up and blowing dish, including workstation, sucking disc, blowing dish, sucking disc, material taking disc and blowing dish, the both ends of workstation are equipped with and are used for carrying out spacing seat to material taking disc and blowing dish, and its middle part is equipped with the robot and is used for promoting the pneumatic pushing hands of material taking disc and blowing dish, the sucking disc sets up the tip of robot, material taking disc and blowing dish are placed respectively on the spacing seat of workstation. The utility model discloses can learn the unordered target object who piles up and realize the unordered process of snatching of robot at three-dimensional space's positional information, have the measurement cost low, snatch the success rate height, place the precision height and be convenient for advantage such as operation, realize snatching the automation and the intellectuality of process.
Description
Technical Field
The utility model relates to the technical field of robot, especially, relate to an unordered grabbing device of robot based on 3D camera.
Background
With the gradual advance of 'china manufacturing 2025', the robot automation system is widely applied to grabbing, sorting, assembling and other operations in 3C and logistics industries. The machine vision is used as a key technology for realizing the automatic operation of the robot, can replace human eyes to measure and judge a target object to be operated, obtains information such as color, position and the like of the target object, and improves the flexibility and the automation degree of the robot production. The condition that present industrial environment often has the object to pile up, disorderly and disorderly place, and manual sorting has the amount of labour big, inefficiency scheduling problem, and adopts traditional robot to snatch or sort the method, often has discernment object information inaccurate, snatchs or sorts the problem that the success rate is low, seriously influences the efficiency of robot operation process and has increased the cost of enterprises.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, overcome not enough among the prior art, provide a unordered grabbing device of robot based on 3D camera, its characterized in that: the automatic feeding device comprises a workbench, a material taking disc, a material placing disc, a sucker, a robot, a 3D camera and a material receiving mechanism; receiving agencies sets up the one side at the workstation, it includes the switch board, the framework, lifting frame, the guide bar, workbin and workbin elevating system, the switch board disposes on the framework, lifting frame is vertical to be set up on lift platform and all be equipped with the mounting groove on lift frame's both ends face, the both ends of workbin are passed through connection piece and screw and are formed and be connected with lift frame, workbin elevating system still includes servo motor, synchronous pulley, belt and lead screw, the rotatable setting of lead screw just is located one side of lifting frame on the framework, the lead screw passes lift platform and forms the screw rod transmission structure with lift platform, servo motor assembles on the framework and servo motor's output axle head and the one end of lead screw all dispose synchronous pulley and realize the transmission through the belt, central processing unit electric connection in servo motor and the switch board, the guide bar sets up on the framework with the lead screw parallelly and the guide bar passes lift platform and with lift platform sliding connection (ii) a The utility model discloses a take-up and blowing dish, including workstation, sucking disc, blowing dish, sucking disc, material taking disc and blowing dish, the both ends of workstation are equipped with and are used for carrying out spacing seat to material taking disc and blowing dish, and its middle part is equipped with the robot and is used for promoting the pneumatic pushing hands of material taking disc and blowing dish, the sucking disc sets up the tip of robot, material taking disc and blowing dish are placed respectively on the spacing seat of workstation.
Still be equipped with the support on the workstation, the 3D camera sets up on the support, just sucking disc, robot and 3D camera respectively with the central processing unit electric connection in the switch board.
The utility model discloses still include first conveyer belt and second conveyer belt, the workstation setting is pressed close to respectively to first conveyer belt and second conveyer belt, and the conveyer belt is equipped with pneumatic pushing hands in the one side of keeping away from the workstation.
The inner walls of the two sides of the material box are symmetrically provided with a plurality of groups of storage grooves for holding the material placing discs.
Dispose photoelectric sensing ware on the lateral wall of workbin, then corresponding vertically disposes a grid strip on the framework, the interval of grid strip and the high phase-match of blowing dish for realize that the workbin actuates the distance that only rises or descends a grid strip at every turn at the lift in-process, central processing unit electric connection in photoelectric sensing ware and the switch board.
Compared with the prior art, the utility model discloses following beneficial effect has: when the automatic sorting machine is used, the first conveying belt and the second conveying belt respectively push a material taking disc and a material placing disc to be sorted to designated positions through pneumatic pushing hands, the robot starts sorting work, the pneumatic pushing hands on a workbench push the material taking disc back to the first conveying belt after sorting is completed, the material placing disc is pushed to a material box to be stored, the material box rises or descends for a certain distance under the driving of a servo motor after pushing action is completed, storage of the material placing disc after next sorting is waited, and centralized processing and resetting work are carried out after the material box is filled; the robot has the advantages of being low in measurement cost, high in grabbing success rate, high in placing precision, convenient to operate and the like, and automation and intellectualization of the grabbing process are achieved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic structural view of the material receiving mechanism of the present invention;
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Example 1.
Referring to fig. 1 to 2, the 3D camera-based robot disordered gripping device in the embodiment includes a workbench 1, a material taking tray 2, a material placing tray 8, a suction cup 4, a robot 3, a 3D camera 6, and a material receiving mechanism 5; the material receiving mechanism 5 is arranged on one side of the workbench 1 and comprises a control cabinet 52, a mechanism frame 57, a lifting frame 51, a guide rod 53, a material box 59 and a material box lifting mechanism, wherein the control cabinet 52 is arranged on the mechanism frame 57, the lifting frame 51 is vertically arranged on a lifting platform 56, two end faces of the lifting frame 51 are respectively provided with a mounting groove, two ends of the material box 59 are connected with the lifting frame 51 through a connecting sheet 58 and a screw, the material box lifting mechanism further comprises a servo motor 54, a synchronous belt wheel, a belt and a screw rod 55, the screw rod 55 is rotatably arranged on the mechanism frame 57 and positioned on one side of the lifting frame 51, the screw rod 55 penetrates through the lifting platform 56 and forms a screw rod 55 transmission structure with the lifting platform 56, the servo motor 54 is arranged on the mechanism frame 57, an output shaft end of the servo motor 54 and one end of the screw rod 55 are respectively provided with the synchronous belt wheel and realize transmission through the belt, the servo motor, the guide rod 53 and the screw rod 55 are arranged on the machine frame 57 in parallel, the guide rod 53 penetrates through the lifting platform 56 and is in sliding connection with the lifting platform 56, preferably, a guide sleeve is arranged at the connection part of the lifting platform 56 and the guide rod 53, and a sliding block and a sliding groove are respectively arranged at the connection part of the lifting platform 56 and the machine frame 57 and realize relative sliding through the sliding block and the sliding groove; the utility model discloses a take out material dish 2, including workstation 1, the both ends of workstation are equipped with and are used for carrying out spacing seat 11 to take out material dish 2 and blowing dish 8, and its middle part is equipped with robot 3 and is used for promoting the pneumatic pushing hands 7 of taking out material dish 2 and blowing dish 8, sucking disc 4 sets up the tip of robot 3, take out material dish 2 and blowing dish 8 are placed respectively on the spacing seat 11 of workstation 1.
The workbench 1 in this embodiment is further provided with a support, the 3D camera 6 is arranged on the support, and the suction cup 4, the robot 3 and the 3D camera 6 are electrically connected with the central processing unit in the control cabinet 52 respectively. The 3D camera 6 is used for acquiring first image information of any target object stacked in the material taking tray 2 in an unordered mode and is also used for acquiring second image information of the target object grabbed by the robot 3; the central processing unit is used for identifying the three-dimensional position information of the grabbing point of the target object in the robot 3 coordinate system according to the first image information, identifying the three-dimensional position information of the central point of the target object in the robot 3 coordinate system according to the second image information, controlling the robot 3 to move according to the three-dimensional position information of the central point and the grabbing point in the robot 3 coordinate system, and simultaneously controlling the sucking discs 4 to grab the target object in the material taking disc 2 in a non-sequential manner and place the target object in the material placing disc 8.
The embodiment further comprises a first conveyor belt (not shown in the figure) and a second conveyor belt (not shown in the figure), the first conveyor belt and the second conveyor belt are respectively arranged close to the workbench 1, and a pneumatic pushing handle (not shown in the figure) is arranged on one side of the conveyor belt far away from the workbench 1.
In this embodiment, a plurality of sets of storage slots for holding the storage tray 8 are symmetrically disposed on the inner walls of the two sides of the material box 59.
In this embodiment, the side walls of the bin 59 are provided with photoelectric sensors, and the mechanism frame 57 is correspondingly provided with a row of grid strips in the longitudinal direction, the spacing of the grid strips is matched with the height of the material placing tray 8, so that the bin 59 can only ascend or descend by the distance of one grid strip in each operation in the lifting process, and the photoelectric sensors are electrically connected with the central processing unit in the control cabinet 52.
When concrete implementation, first conveyer belt and second conveyer belt will treat the fetching disc 2 and the blowing dish 8 propelling movement respectively to the assigned position through pneumatic pushing hands 7 respectively, robot 3 begins the work of letter sorting, pneumatic pushing hands 7 on the workstation 1 pushes back the fetching disc 2 first conveyer belt after the letter sorting is accomplished, accomodate blowing dish 8 propelling movement to in the workbin 59 simultaneously, accomplish behind the propelling movement workbin 59 and rise or descend certain distance under servo motor 54's drive, wait for accomodating the blowing dish 8 after next letter sorting, carry out centralized processing and reset work after the workbin 59 is filled up, first conveyer belt and second conveyer belt and pneumatic pushing hands 7's setting and implementation all belong to prior art, and here is no longer repeated.
In this embodiment, a unordered grabbing device of robot based on 3D camera 6 can learn the unordered target object who piles up and realize robot 3's unordered process of grabbing in three-dimensional space's positional information, has the measurement cost low, snatchs advantages such as the success rate is high, place the precision height and be convenient for operate, realizes the automation and the intellectuality of the process of grabbing.
It should be noted that the above detailed description of the embodiments of the present invention with reference to the preferred embodiments is intended to be illustrative and not restrictive. On reading the description of the present invention, those skilled in the art may modify the technical solutions described in the embodiments or may substitute part of the technical features of the embodiments, and these modifications or substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (5)
1. The utility model provides a unordered grabbing device of robot based on 3D camera which characterized in that: the automatic feeding device comprises a workbench, a material taking disc, a material placing disc, a sucker, a robot, a 3D camera and a material receiving mechanism;
receiving agencies sets up the one side at the workstation, it includes the switch board, the framework, lifting frame, the guide bar, workbin and workbin elevating system, the switch board disposes on the framework, lifting frame is vertical to be set up on lift platform and all be equipped with the mounting groove on lift frame's both ends face, the both ends of workbin are passed through connection piece and screw and are formed and be connected with lift frame, workbin elevating system still includes servo motor, synchronous pulley, belt and lead screw, the rotatable setting of lead screw just is located one side of lifting frame on the framework, the lead screw passes lift platform and forms the screw rod transmission structure with lift platform, servo motor assembles on the framework and servo motor's output axle head and the one end of lead screw all dispose synchronous pulley and realize the transmission through the belt, central processing unit electric connection in servo motor and the switch board, the guide bar sets up on the framework with the lead screw parallelly and the guide bar passes lift platform and with lift platform sliding connection (ii) a The utility model discloses a take-up and blowing dish, including workstation, sucking disc, blowing dish, sucking disc, material taking disc and blowing dish, the both ends of workstation are equipped with and are used for carrying out spacing seat to material taking disc and blowing dish, and its middle part is equipped with the robot and is used for promoting the pneumatic pushing hands of material taking disc and blowing dish, the sucking disc sets up the tip of robot, material taking disc and blowing dish are placed respectively on the spacing seat of workstation.
2. The 3D camera-based robotic disordered grasping device of claim 1, characterized in that: still be equipped with the support on the workstation, the 3D camera sets up on the support, just sucking disc, robot and 3D camera respectively with the central processing unit electric connection in the switch board.
3. The 3D camera-based robotic disordered grasping device of claim 1, characterized in that: still include first conveyer belt and second conveyer belt, the setting of workstation is pressed close to respectively to first conveyer belt and second conveyer belt, and the conveyer belt is equipped with pneumatic pushing hands in the one side of keeping away from the workstation.
4. The 3D camera-based robotic disordered grasping device of claim 1, characterized in that: and a plurality of groups of storage grooves for supporting the material placing discs are symmetrically arranged on the inner walls of the two sides of the material box.
5. The 3D camera-based robotic disordered grasping device of claim 1, characterized in that: the side wall of the material box is provided with a photoelectric sensor, the framework is correspondingly and longitudinally provided with a row of grid strips, the space between the grid strips is matched with the height of the material placing disc so as to realize that the material box only ascends or descends by the distance of one grid strip in each movement in the lifting process, and the photoelectric sensor is electrically connected with a central processing unit in the control cabinet.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921667379.6U CN210655225U (en) | 2019-10-08 | 2019-10-08 | Unordered grabbing device of robot based on 3D camera |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921667379.6U CN210655225U (en) | 2019-10-08 | 2019-10-08 | Unordered grabbing device of robot based on 3D camera |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112456086A (en) * | 2020-10-09 | 2021-03-09 | 中国电子科技集团公司第十三研究所 | Automatic turn-over and discharge method for bulk unordered electronic components |
| CN112880737A (en) * | 2021-01-14 | 2021-06-01 | 四川雅吉芯电子科技有限公司 | Integrated system for detecting monocrystalline silicon epitaxial wafer |
| CN113458009A (en) * | 2021-07-02 | 2021-10-01 | 北京思灵机器人科技有限责任公司 | Sorting device, sorting system and sorting method for disordered wires |
| CN113579683A (en) * | 2021-08-23 | 2021-11-02 | 安徽艾瑞思信息科技有限公司 | Device for high-precision picking of assembly line parts based on Falcon camera |
-
2019
- 2019-10-08 CN CN201921667379.6U patent/CN210655225U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112456086A (en) * | 2020-10-09 | 2021-03-09 | 中国电子科技集团公司第十三研究所 | Automatic turn-over and discharge method for bulk unordered electronic components |
| CN112880737A (en) * | 2021-01-14 | 2021-06-01 | 四川雅吉芯电子科技有限公司 | Integrated system for detecting monocrystalline silicon epitaxial wafer |
| CN112880737B (en) * | 2021-01-14 | 2023-05-30 | 四川雅吉芯电子科技有限公司 | Integrated system for detecting monocrystalline silicon epitaxial wafer |
| CN113458009A (en) * | 2021-07-02 | 2021-10-01 | 北京思灵机器人科技有限责任公司 | Sorting device, sorting system and sorting method for disordered wires |
| CN113579683A (en) * | 2021-08-23 | 2021-11-02 | 安徽艾瑞思信息科技有限公司 | Device for high-precision picking of assembly line parts based on Falcon camera |
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