CN211466400U - Industrial robot automatic tracking grabbing machine based on machine vision - Google Patents
Industrial robot automatic tracking grabbing machine based on machine vision Download PDFInfo
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- CN211466400U CN211466400U CN201922152062.5U CN201922152062U CN211466400U CN 211466400 U CN211466400 U CN 211466400U CN 201922152062 U CN201922152062 U CN 201922152062U CN 211466400 U CN211466400 U CN 211466400U
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- 238000005096 rolling process Methods 0.000 claims description 4
- 238000004804 winding Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 7
- 238000003466 welding Methods 0.000 abstract description 4
- 230000002146 bilateral effect Effects 0.000 abstract 1
- 230000008093 supporting effect Effects 0.000 description 11
- 238000000034 method Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
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- 238000009776 industrial production Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
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- 230000003028 elevating effect Effects 0.000 description 1
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Abstract
The utility model discloses an industrial robot auto-tracing snatchs machine based on machine vision, include: the device comprises a longitudinal shaft, a first telescopic arm, a second telescopic arm and a grabbing frame; the inside of axis of ordinates is provided with first servo motor, and first servo motor passes through the shaft coupling and is connected with the transmission of first flexible arm, the outer wall welding of the flexible arm of second has the mounting bracket, the top welding of mounting bracket has the second servo motor who winds the axle and use with it, it is articulated with the jib to wind the cable wire that passes through the wraparound, and the bottom welding of jib has the frame of snatching, the lower surface of snatching the frame is provided with the camera, the lower surface bilateral symmetry of snatching the frame is provided with the board of snatching. The utility model discloses in, this automatic tracking snatchs machine is through the camera that sets up on snatching the frame, can snatch the frame at industrial robot drive and remove when adjusting, automatic timely pursuit to target article to snatch the processing through snatching the frame, realized the effect that industrial robot automatic tracking snatched.
Description
Technical Field
The utility model relates to an industrial robot technical field especially relates to an industrial robot auto-tracing snatchs machine based on machine vision.
Background
The industrial robot is a multi-joint manipulator or multi-degree-of-freedom machine device oriented to the industrial field, can automatically execute work, is a machine which realizes various functions by self power and control capacity, can receive human commands and can operate according to a preset program, a modern industrial robot can also act according to a principle formulated by an artificial intelligence technology, and in order to improve the industrial production efficiency, a large number of industrial robots are often used in a production workshop to grab articles.
However, the existing industrial robot gripping machine usually adopts a preset programming mode, so that the industrial robot can only grip specific articles on a specific production line, when different articles to be gripped need to be replaced, the gripping system of the industrial robot needs to be reprogrammed, the operation steps are troublesome, the effect that the industrial robot can not automatically track and grip the required articles can not be realized quickly and flexibly, and the efficiency of industrial production is reduced.
SUMMERY OF THE UTILITY MODEL
The utility model aims at solving the shortcoming that exists among the prior art, and the industrial robot automatic tracking who provides based on machine vision snatchs machine.
In order to achieve the above purpose, the utility model adopts the following technical scheme: an industrial robot auto-tracing gripper based on machine vision, comprising: the device comprises a longitudinal shaft, a first telescopic arm, a second telescopic arm and a grabbing frame;
the bottom of the longitudinal shaft is welded with a support column, and the bottom of the support column is welded with a base;
a first servo motor is arranged inside the longitudinal shaft and is in transmission connection with the first telescopic arm through a coupling;
the first telescopic arm is connected with the second telescopic arm through an extension rod, a mounting frame is welded on the outer wall of the second telescopic arm, a shaft and a second servo motor matched with the shaft are welded on the top of the mounting frame, the shaft is hinged with the hanging rod through a steel cable in winding connection, and a grabbing frame is welded at the bottom of the hanging rod;
the lower surface of the grabbing frame is provided with a camera, and grabbing plates are symmetrically arranged on two sides of the lower surface of the grabbing frame.
As a further description of the above technical solution:
also comprises a telescopic groove;
the telescopic groove is formed in the first telescopic arm;
the inner walls of the horizontal ends of the two sides of the telescopic groove are rotatably connected with clamping rollers, and the clamping rollers are in rolling contact with the outer wall of the extension rod.
The inside of first flexible arm and the inboard that is located flexible groove set up electric putter, and electric putter is connected with the extension rod.
As a further description of the above technical solution:
the device also comprises a limiting pipe;
the bottom of the second telescopic arm is welded on the limiting pipe;
the suspender penetrates through the inner cavity of the limiting pipe and extends downwards;
the diameter of the inner wall of the limiting pipe is consistent with the diameter of the outer wall of the suspender.
As a further description of the above technical solution:
the device also comprises a support bottom;
the number of the support bottoms is two, and the bottom ends of the inner walls of the two grabbing plates are welded on the two support bottoms respectively;
the support bottom is of a trapezoidal structure, one side of the support bottom, which is close to the grabbing plate, is of a vertical structure, and one side of the support bottom, which is far away from the grabbing plate, is of an inclined structure.
As a further description of the above technical solution:
the device also comprises a third servo motor;
the third servo motor is embedded in the grabbing frame;
the third servo motor is connected with a toothed ring through coupling transmission;
a transmission rod is arranged inside the grabbing frame and positioned at the top of the grabbing plate, and a rack is welded on the inner wall of the transmission rod;
and the third servo motor is in transmission connection with the transmission rod through the meshing connection of the gear ring and the rack.
Advantageous effects
The utility model provides an industrial robot automatic tracking snatchs machine based on machine vision. The method has the following beneficial effects:
(1): this automatic pursuit snatchs machine is through the camera that sets up on snatching the frame, can snatch the frame at industrial robot drive and remove when adjusting for the article data information that the frame was located through the position is snatched in the real-time collection of camera, ensures that industrial robot can be automatic timely pursuit to target article, and snatchs the processing through snatching the frame, and then has realized the effect that industrial robot autotracking snatched, has improved industrial robot's work efficiency.
(2): this automatic track snatchs machine can be when snatching the board and snatching target article through the support end that sets up, will hold in the palm the end and imbed the bottom of snatching article, plays the effect that the auxiliary stay held in the palm the bottom of the article of snatching to prevent to snatch the condition that article take place to drop from snatching the board, the effectual industrial robot that has ensured is to the safety and stability of snatching of target article, avoids taking place the condition that article dropped the damage.
Drawings
Fig. 1 is a schematic view of the overall structure of an industrial robot automatic tracking gripper based on machine vision according to the present invention;
FIG. 2 is a schematic view of the internal structure of the joint between the longitudinal axis and the first telescopic arm of the present invention;
FIG. 3 is a schematic view of the internal structure of the connection between the first telescopic arm and the extension rod;
fig. 4 is a schematic structural view of the mounting frame of the present invention;
fig. 5 is a schematic structural view of the grabbing frame of the present invention;
fig. 6 is a schematic view of the internal overlooking structure of the middle grabbing frame of the present invention.
Illustration of the drawings:
1. a base; 2. a support pillar; 3. a longitudinal axis; 31. a first servo motor; 4. a first telescopic arm; 41. an electric push rod; 42. a telescopic groove; 43. a grip roller; 5. an extension pole; 6. a second telescopic arm; 7. a mounting frame; 71. a second servo motor; 72. a shaft; 73. a steel cord; 8. a limiting pipe; 9. a boom; 10. a grabbing frame; 101. a camera; 102. grabbing the plate; 103. supporting the bottom; 104. a transmission rod; 105. a rack; 106. a third servo motor; 107. a toothed ring.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.
As shown in fig. 1, 2, 4, 5 and 6, an industrial robot automatic tracking gripper based on machine vision includes: the device comprises a longitudinal shaft 3, a first telescopic arm 4, a second telescopic arm 6 and a grabbing frame 10;
the bottom of the longitudinal shaft 3 is welded with a support column 2, and the bottom of the support column 2 is welded with a base 1;
a first servo motor 31 is arranged inside the longitudinal shaft 3, and the first servo motor 31 is in transmission connection with the first telescopic arm 4 through a coupling;
the first telescopic arm 4 is connected with the second telescopic arm 6 through an extension rod 5, a mounting rack 7 is welded on the outer wall of the second telescopic arm 6, a shaft 72 and a second servo motor 71 matched with the shaft are welded on the top of the mounting rack 7, the shaft 72 is hinged with the suspender 9 through a wire rope 73 in a winding manner, and the bottom of the suspender 9 is welded with a grabbing frame 10;
the lower surface of the grabbing frame 10 is provided with a camera 101, and grabbing plates 102 are symmetrically arranged on two sides of the lower surface of the grabbing frame 10;
the three-dimensional grabbing device is characterized by further comprising a third servo motor 106, the third servo motor 106 is embedded inside the grabbing frame 10, the third servo motor 106 is connected with a toothed ring 107 through coupling transmission, a transmission rod 104 is arranged inside the grabbing frame 10 and located at the top of the grabbing plate 102, a rack 105 is welded on the inner wall of the transmission rod 104, the rack 105 is meshed with the toothed ring 107 and connected with the rack 105, and the third servo motor 106 is in transmission connection with the transmission rod 104.
The working principle is as follows: by means of the fixed supporting action of the base 1 and the supporting column 2, the longitudinal axis 3 of the industrial robot is mounted at the place of use, the working angle of the first telescopic arm 4 can be adjusted through the first servo motor 31, and the second telescopic arm 6 is driven to rotate through the conduction of the extension rod 5, so that the effect of free motion of the industrial robot is realized, and at the moment, the camera 101 can perform the function of adjusting the working angle of the first telescopic arm according to the preset target parameter value, the passing articles are picked up by camera and automatically tracked to the position of the articles to be grabbed, at the moment, the second servo motor 71 drives the shaft 72 to rotate, so that the wire rope 73 drives the suspension rod 9 to move downwards, the grabbing frame 10 is moved to the outer side of the object to be grabbed, the third servo motor 106 is started to be connected with the rack 105 through the meshing of the toothed ring 107, the transmission rods 104 on the two sides are driven to move relatively, therefore, the grabbing plate 102 grabs the target object, and the effect of automatic tracking and grabbing is achieved.
As shown in fig. 3, still include flexible groove 42, flexible groove 42 is seted up in the inside of first flexible arm 4, the both sides horizontal end inner wall of flexible groove 42 all rotates and is connected with grip roller 43, and grip roller 43 and extension rod 5's outer wall rolling contact, the inside of first flexible arm 4 just is located the inboard of flexible groove 42 and sets up electric putter 41, and electric putter 41 is connected with extension rod 5, through electric putter 41's pushing action, make extension rod 5 can stretch out and draw back the removal in flexible groove 42, and under the rolling clamping action of grip roller 43, ensure the safety and stability of extension rod 5 flexible process, prevent that extension rod 5 from taking place the phenomenon of skew.
As shown in fig. 1, still include spacing pipe 8, spacing pipe 8 welding has the bottom of the flexible arm 6 of second, and jib 9 runs through the inner chamber downwardly extending of spacing pipe 8, and the inner wall diameter of spacing pipe 8 is unanimous with the outer wall diameter size of jib 9, and jib 9 is reciprocating the in-process, can be by spacing centre gripping at the inner wall of spacing pipe 8, plays limiting displacement to the elevating status who snatchs frame 10, prevents to snatch frame 10 and takes place the phenomenon of rocking about.
As shown in fig. 5, the automatic grabbing device further comprises two supporting bases 103, the number of the supporting bases 103 is two, the two supporting bases 103 are respectively welded with the bottom ends of the inner walls of the two grabbing plates 102, each supporting base 103 is of a trapezoidal structure, one side of each supporting base close to the grabbing plate 102 is of a vertical structure, one side of each supporting base far away from the grabbing plate 102 is of an inclined structure, when the grabbing plate 102 grabs a target object, the supporting base 103 is embedded into the bottom of the grabbed object, the bottom of the grabbed object plays a role in supporting and lifting the grabbed object in an auxiliary mode, the situation that the grabbed object drops from the grabbing plate 102 is prevented, and the grabbing safety and stability of the target object by the industrial robot.
In the description herein, references to the description of "one embodiment," "an example," "a specific example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.
Claims (5)
1. An industrial robot automatic tracking grabbing machine based on machine vision, includes: the device comprises a longitudinal shaft (3), a first telescopic arm (4), a second telescopic arm (6) and a grabbing frame (10);
the bottom of the longitudinal shaft (3) is welded with a support column (2), and the bottom of the support column (2) is welded with a base (1);
a first servo motor (31) is arranged inside the longitudinal shaft (3), and the first servo motor (31) is in transmission connection with the first telescopic arm (4) through a coupling;
the first telescopic arm (4) is connected with a second telescopic arm (6) through an extension rod (5), a mounting rack (7) is welded on the outer wall of the second telescopic arm (6), a shaft (72) and a second servo motor (71) matched with the shaft are welded on the top of the mounting rack (7), the shaft (72) is hinged with the suspender (9) through a wire rope (73) in a winding manner, and a grabbing frame (10) is welded at the bottom of the suspender (9);
the lower surface of the grabbing frame (10) is provided with a camera (101), and grabbing plates (102) are symmetrically arranged on two sides of the lower surface of the grabbing frame (10).
2. The industrial robot automatic tracking gripper based on machine vision according to claim 1, characterized by further comprising a telescopic slot (42);
the telescopic groove (42) is formed in the first telescopic arm (4);
the inner walls of the horizontal ends of the two sides of the telescopic groove (42) are rotatably connected with clamping rollers (43), and the clamping rollers (43) are in rolling contact with the outer wall of the extension rod (5);
an electric push rod (41) is arranged inside the first telescopic arm (4) and on the inner side of the telescopic groove (42), and the electric push rod (41) is connected with the extension rod (5).
3. The industrial robot automatic tracking gripper based on machine vision according to claim 1, characterized by further comprising a limiting tube (8);
the bottom of the second telescopic arm (6) is welded on the limiting pipe (8);
the hanger rod (9) penetrates through the inner cavity of the limiting pipe (8) and extends downwards;
the diameter of the inner wall of the limiting pipe (8) is consistent with the diameter of the outer wall of the suspender (9).
4. The industrial robot automatic tracking gripper based on machine vision according to claim 1, characterized by further comprising a tray (103);
the number of the support bottoms (103) is two, and the bottom ends of the inner walls of the two grabbing plates (102) are welded on the two support bottoms (103) respectively;
the support bottom (103) is of a trapezoidal structure, one side of the support bottom close to the grabbing plate (102) is of a vertical structure, and one side of the support bottom far away from the grabbing plate (102) is of an inclined structure.
5. The industrial robot automatic tracking gripper based on machine vision according to claim 1, characterized by further comprising a third servo motor (106);
the third servo motor (106) is embedded in the grabbing frame (10);
the third servo motor (106) is connected with a gear ring (107) through coupling transmission;
a transmission rod (104) is arranged inside the grabbing frame (10) and at the top of the grabbing plate (102), and a rack (105) is welded on the inner wall of the transmission rod (104);
the third servo motor (106) is connected with the transmission rod (104) in a transmission way through the meshing connection of the gear ring (107) and the rack (105).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922152062.5U CN211466400U (en) | 2019-12-05 | 2019-12-05 | Industrial robot automatic tracking grabbing machine based on machine vision |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922152062.5U CN211466400U (en) | 2019-12-05 | 2019-12-05 | Industrial robot automatic tracking grabbing machine based on machine vision |
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| CN211466400U true CN211466400U (en) | 2020-09-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201922152062.5U Expired - Fee Related CN211466400U (en) | 2019-12-05 | 2019-12-05 | Industrial robot automatic tracking grabbing machine based on machine vision |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112497254A (en) * | 2020-11-30 | 2021-03-16 | 南京宏典园林工程有限公司 | Automatic industrial robot tracks and snatchs mechanism |
| CN114260884A (en) * | 2021-12-24 | 2022-04-01 | 昆山市华霆精密机械有限公司 | Tensile enhancement type telescopic robot arm and manufacturing method thereof |
| CN114669946A (en) * | 2022-04-21 | 2022-06-28 | 和县隆盛精密机械有限公司 | Clamping mechanical arm for mechanical welding and implementation method thereof |
-
2019
- 2019-12-05 CN CN201922152062.5U patent/CN211466400U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112497254A (en) * | 2020-11-30 | 2021-03-16 | 南京宏典园林工程有限公司 | Automatic industrial robot tracks and snatchs mechanism |
| CN114260884A (en) * | 2021-12-24 | 2022-04-01 | 昆山市华霆精密机械有限公司 | Tensile enhancement type telescopic robot arm and manufacturing method thereof |
| CN114260884B (en) * | 2021-12-24 | 2024-04-05 | 昆山市华霆精密机械有限公司 | Tensile-strength-enhanced telescopic robot arm and preparation method thereof |
| CN114669946A (en) * | 2022-04-21 | 2022-06-28 | 和县隆盛精密机械有限公司 | Clamping mechanical arm for mechanical welding and implementation method thereof |
| CN114669946B (en) * | 2022-04-21 | 2024-02-23 | 和县隆盛精密机械有限公司 | Clamping mechanical arm for mechanical welding and implementation method thereof |
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Granted publication date: 20200911 Termination date: 20211205 |