CN211846034U

CN211846034U - Robot conveyer with vision decision-making

Info

Publication number: CN211846034U
Application number: CN202020423611.8U
Authority: CN
Inventors: 王春光; 朱雅乔; 武晋
Original assignee: Tianjin Sino German University of Applied Sciences
Current assignee: Tianjin Sino German University of Applied Sciences
Priority date: 2020-03-27
Filing date: 2020-03-27
Publication date: 2020-11-03
Anticipated expiration: 2030-03-27

Abstract

The utility model discloses a robot conveyer with vision decision-making, including frame and support, the internally mounted of frame has the backing roll, the one end of frame is connected with the dwang, wherein, the dwang is connected with the conveyer belt with the outside of rubber wheel, first belt pulley is installed to the one end of dwang, the outside of first belt pulley is connected with the belt, the support mounting is in the frame top that is close to deflector one side, the draw-in groove has been seted up to the inside of support, the internally connected of draw-in groove has the cassette, the one end that the draw-in groove was stretched out to the cassette is provided with the screw rod. This robot conveyer with vision decision-making unscrews the knob on the screw rod, and the pull-up link drives the vision camera and passes through the draw-in groove of cassette in the support and slide from top to bottom for behind the vision camera adjustment to appropriate position, can carry out non-blind area to the work piece product on the conveyer belt and detect, thereby conveniently adjust the height of vision camera.

Description

Robot conveyer with vision decision-making

Technical Field

The utility model relates to a vision system uses technical field, specifically is a robot conveyer with vision decision-making.

Background

The vision of the robot can acquire a two-dimensional image of the environment through the vision sensor, and the two-dimensional image is analyzed and interpreted through the vision processor and then converted into a symbol, so that the robot can identify an object and determine the position of the object. In the production process of automatic products, a robot with a corresponding visual decision is often needed to detect workpiece products on a conveying device, so that the workpiece products are conveyed according to actual needs, unqualified products are grabbed and eliminated through a corresponding manipulator, and the existing robot conveying device with the visual decision still has the problems of difficulty in adjusting the placement position of a camera of a visual system and the like during use, so that the robot conveying device with the visual decision is expected to improve the working efficiency of the robot conveying device with the visual decision through innovation of the robot conveying device with the visual decision, is convenient to install and adjust, is convenient for product guiding, and exerts the maximum value, along with the development of science and technology, the robot conveying device with the visual decision develops to a great extent, and the development of the robot conveying device brings great convenience to people when conveying the workpiece products, the variety and number thereof are also increasing day by day.

The robot transport apparatus with visual decision on the market at present has a disadvantage in that although the variety and number thereof are very large: products on the robotic conveyor with visual decisions are not convenient to guide centrally on a conveyor belt for detection, cameras of a visual system of the robotic conveyor with visual decisions are not convenient to adjust in height, and cables of the robotic conveyor with visual decisions are easily tangled. Improvements are therefore made to the current robotic transport devices with visual decision making.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a robot transport device with vision decision-making to solve the product that has on the robot transport device with vision decision-making on the existing market that above-mentioned background art provided and be not convenient for concentrate the direction on the conveyer belt and detect, the camera of the vision system of robot transport device with vision decision-making is not convenient for carry out altitude mixture control and has the easy winding in disorder of cable of robot transport device with vision decision-making problem.

In order to achieve the above object, the utility model provides a following technical scheme: a robot conveying device with a visual decision function comprises a rack and a support, wherein a supporting roll is installed inside the rack, one end of the rack is connected with a rotating rod, a rubber wheel is fixed on the outer side of the rotating rod, a conveying belt is connected with the outer sides of the rotating rod and the rubber wheel, a first belt pulley is installed at one end of the rotating rod, a belt is connected with the outer side of the first belt pulley, one end, away from the first belt pulley, of the belt is connected with a second belt pulley, the second belt pulley is fixed with the output end of a motor, the motor is installed at the bottom of the rack, a rotating shaft is arranged at the top end, away from the motor, of the rack and connected with the edge of a guide plate, a spring is fixed on one side of the guide plate, and one end, away from the guide plate, of; the bracket is arranged above the machine frame at one side close to the guide plate, a clamping groove is arranged in the bracket, the interior of the clamping groove is connected with a clamping seat, one end of the clamping seat extending out of the clamping groove is provided with a screw rod, the screw rod is connected with one end of the connecting frame in a penetrating way, one end of the screw rod extending out of the connecting frame is connected with a knob, the middle part of the bottom end of the connecting frame is provided with a visual camera, one side of the connecting frame, which is close to the vision camera, is provided with a clamp, one end of the connecting frame is connected with a fixing plate, the upper end of the fixed plate is fixed with one end of the drag chain, the other end of the drag chain is fixed with the frame, one side that the vision camera is close to the clamping is provided with the connecting cable, the connecting cable is connected with clamping and tow chain respectively, one side of frame is provided with the frame, the manipulator is installed to the top of frame.

Preferably, the guide plates are symmetrically distributed on two sides of the central line of the conveying belt, the distance between the guide plates is smaller than the width of the conveying belt, and the guide plates form a rotating structure through springs and rotating shafts.

Preferably, the shape of the bracket is inverted 'U' -shaped, the width of the inner side of the bracket is the same as the distance between the inner sides of the racks, and the bracket and the racks are vertically distributed.

Preferably, the shape of the clamping seat is convex, the section size of the clamping seat is matched with that of the clamping groove, and the clamping seat forms a sliding structure through the clamping groove and the bracket.

Preferably, the screw rod and the clamping seat are vertically distributed, the cross section size of the screw rod is matched with the cross section size of the inside of the knob, and the screw rod is in threaded connection with the knob.

Preferably, the tow chain and the bracket are distributed in parallel, and the height of the center line of the top end of the tow chain is the same as that of the center line of the clamp.

Compared with the prior art, the beneficial effects of the utility model are that:

(1) when the conveyed workpiece moves to the position of the guide plate, the movable workpiece extrudes the guide plate to move to the middle position of the conveying belt in a centralized manner, so that the workpiece is subjected to information induction acquisition by the vision camera below the bracket, and further workpiece products are conveniently guided in a centralized manner;

(2) the robot conveying device with the vision decision is characterized in that a knob on a screw is unscrewed, and then a connecting frame is pulled up and down to drive a vision camera to slide up and down through a clamping groove in a bracket of a clamping seat, so that the vision camera can be adjusted to a proper position and then can be used for detecting a workpiece product on a conveying belt without a blind area, and the height of the vision camera can be conveniently adjusted;

(3) this robot conveyer with vision decision, vision camera when reciprocating, the connecting cable carries out regular arrangement through the clamping to drag chain through between fixed plate and the frame protects the connecting cable, thereby avoids the connecting cable to twine in disorder.

Drawings

Fig. 1 is a schematic structural view of a front cross section of the robot conveyer with vision decision of the present invention;

FIG. 2 is a schematic diagram of a right-view cross-sectional structure of the robot conveyer with vision decision of the present invention;

FIG. 3 is a schematic top view of a cross-sectional structure of the robotic transfer device with visual decision-making of the present invention;

fig. 4 is a schematic diagram of a part a of the enlarged structure of the robot transferring device with vision decision of the present invention in fig. 3.

In the figure: 1. a frame; 2. a support roller; 3. rotating the rod; 4. a rubber wheel; 5. a conveyor belt; 6. a first pulley; 7. a belt; 8. a second pulley; 9. a motor; 10. a rotating shaft; 11. a guide plate; 12. a spring; 13. a support plate; 14. a support; 15. a card slot; 16. a card holder; 17. a screw; 18. a connecting frame; 19. a knob; 20. a vision camera; 21. clamping; 22. a fixing plate; 23. a drag chain; 24. connecting a cable; 25. a machine base; 26. a robot arm.

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. 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.

Referring to fig. 1-4, the present invention provides a technical solution: a robot conveying device with a visual decision function comprises a rack 1, a supporting roller 2, a rotating rod 3, a rubber wheel 4, a conveying belt 5, a first belt pulley 6, a belt 7, a second belt pulley 8, a motor 9, a rotating shaft 10, a guide plate 11, a spring 12, a support plate 13, a support 14, a clamping groove 15, a clamping seat 16, a screw 17, a connecting frame 18, a knob 19, a visual camera 20, a clamping clip 21, a fixing plate 22, a drag chain 23, a connecting cable 24, a machine base 25 and a mechanical arm 26, wherein the supporting roller 2 is arranged inside the rack 1, one end of the rack 1 is connected with the rotating rod 3, the rubber wheel 4 is fixed on the outer side of the rotating rod 3, wherein,

dwang 3 is connected with conveyer belt 5 with the outside of rubber tyer 4, first belt pulley 6 is installed to the one end of dwang 3, the outside of first belt pulley 6 is connected with belt 7, the one end that first belt pulley 6 was kept away from to belt 7 is connected with second belt pulley 8, second belt pulley 8 is fixed with the output of motor 9, motor 9 is installed in the bottom of frame 1, the top that motor 9 was kept away from to frame 1 is provided with pivot 10, pivot 10 is connected with deflector 11's edge, deflector 11 is symmetric distribution in conveyer belt 5's central line both sides, and the interval between deflector 11 is less than conveyer belt 5's width to deflector 11 passes through the revolution mechanic that constitutes between spring 12 and the pivot 10, utilizes deflector 11 to pass through the revolution mechanic that constitutes between spring 12 and the pivot 10 for deflector 11 extrudes spring 12 and rotates, the moving workpieces can be concentrated to the middle of the conveying belt 5 on a guide plate 11 for damping and buffering, a spring 12 is fixed on one side of the guide plate 11, and one end, far away from the guide plate 11, of the spring 12 is connected with a support plate 13;

the bracket 14 is arranged above the rack 1 close to one side of the guide plate 11, the bracket 14 is in an inverted U shape, the width of the inner side of the bracket 14 is equal to the distance between the inner sides of the rack 1, the bracket 14 and the rack 1 are vertically distributed, the bracket 14 is in an inverted U shape, the bracket 14 is stably placed on the rack 1, the deviation of the shooting effect of the visual camera 20 caused by the shaking of the bracket 14 is effectively avoided, the bracket 14 is internally provided with a clamping groove 15, the clamping groove 15 is internally connected with a clamping seat 16, the clamping seat 16 is in a convex shape, the cross section size of the clamping seat 16 is matched with that of the clamping groove 15, the clamping seat 16 forms a sliding structure with the bracket 14 through the clamping groove 15, and the connecting frame 18 is stably adjusted in position on the inner side of the bracket 14 through the clamping seat 16 by utilizing the sliding structure formed between the clamping groove 15 and the bracket 14 through the clamping seat 16, the visual camera 20 is convenient for detecting the workpiece products on the conveying belt 5 without blind areas, a screw rod 17 is arranged at one end, extending out of the clamping groove 15, of the clamping seat 16, the screw rod 17 and the clamping seat 16 are vertically distributed, the section size of the screw rod 17 is matched with the section size inside the knob 19, the screw rod 17 is in threaded connection with the knob 19, so that the knob 19 clamps or loosens the connecting frame 18, the connecting frame 18 is convenient to move up and down, the screw rod 17 is in through connection with one end of the connecting frame 18, one end, extending out of the connecting frame 18, of the screw rod 17 is connected with the knob 19, the visual camera 20 is arranged at the middle of the bottom end of the connecting frame 18, a clamp 21 is arranged at one side, close to the visual camera 20, of the connecting frame 18 is connected with a fixing, the upper end of fixed plate 22 is fixed with the one end of tow chain 23, be parallel distribution between tow chain 23 and the support 14, and the height of tow chain 23 top central line is the same with the height of clamping 21 central line, set up and be parallel distribution between tow chain 23 and the support 14 for tow chain 23 is regular arranging and protecting connecting cable 24, avoids connecting cable 24 to twine in disorder, the other end and the frame 1 of tow chain 23 are fixed, one side that vision camera 20 is close to clamping 21 is provided with connecting cable 24, connecting cable 24 is connected with clamping 21 and tow chain 23 respectively, one side of frame 1 is provided with frame 25, manipulator 26 is installed to the top of frame 25.

The working principle is as follows: when the robot conveying device with the visual decision is used, firstly, the device is electrified, so that the motor 9 operates to drive the belt 7 outside the second belt pulley 8 to operate, the operating belt 7 drives the rubber wheel 4 on the first belt pulley 6 to rotate along with the belt, so that the conveying belt 5 outside the rubber wheel 4 carries out directional conveying, when a workpiece moves to the position of the guide plate 11, the moved workpiece extrudes the guide plate 11 to move to the middle position of the conveying belt 5 in a centralized manner, so that the workpiece is subjected to information induction acquisition by the visual camera 20 at the lower part of the bracket 14, when the height of the visual camera 20 needs to be adjusted, the knob 19 on the screw 17 is unscrewed, then the movable connecting frame 18 is pulled up and down to drive the visual camera 20 to slide up and down in the clamping groove 15 in the bracket 14 through the clamping seat 16, so that the visual camera 20 is adjusted to a proper position, the knob 19 is screwed down to clamp the fixed connecting frame 18, when the vision camera 20 moves up and down, the connecting cable 24 is regularly arranged through the clamp 21, the connecting cable 24 is protected through the drag chain 23 between the fixing plate 22 and the rack 1, the connecting cable 24 is prevented from being randomly wound, the vision camera 20 collects information of workpieces on the conveying belt 5 when being electrified to work, the vision camera is connected to an external display device through the connecting cable 24 for decision making, the manipulator 26 above the base 25 transfers and clamps corresponding workpiece products through program control, and the content which is not described in detail in the description belongs to the prior art which is well known to a person skilled in the art.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.

Claims

1. A robot transport device with visual decision making, comprising a frame (1) and a stand (14), characterized in that: the inside mounting of frame (1) has backing roll (2), the one end of frame (1) is connected with dwang (3), the outside of dwang (3) is fixed with rubber tyer (4), wherein, the outside of dwang (3) and rubber tyer (4) is connected with conveyer belt (5), first belt pulley (6) is installed to the one end of dwang (3), the outside of first belt pulley (6) is connected with belt (7), the one end that first belt pulley (6) were kept away from in belt (7) is connected with second belt pulley (8), second belt pulley (8) are fixed with the output of motor (9), the bottom at frame (1) is installed in motor (9), the top that motor (9) were kept away from in frame (1) is provided with pivot (10), pivot (10) are connected with the edge of deflector (11), a spring (12) is fixed on one side of the guide plate (11), and one end, far away from the guide plate (11), of the spring (12) is connected with the support plate (13);

the support (14) is arranged above the rack (1) close to one side of the guide plate (11), a clamping groove (15) is formed in the support (14), a clamping seat (16) is connected to the inside of the clamping groove (15), a screw rod (17) is arranged at one end, extending out of the clamping groove (15), of the clamping seat (16), the screw rod (17) is in through connection with one end of the connecting frame (18), one end, extending out of the connecting frame (18), of the screw rod (17) is connected with a knob (19), a visual camera (20) is arranged in the middle of the bottom end of the connecting frame (18), a clamping clamp (21) is arranged at one side, close to the visual camera (20), of the connecting frame (18), a fixing plate (22) is connected to one end of the connecting frame (18), the upper end of the fixing plate (22) is fixed to one end of the drag chain (23), and the other end of the drag chain (23, one side that vision camera (20) are close to clamping (21) is provided with connection cable (24), connection cable (24) are connected with clamping (21) and tow chain (23) respectively, one side of frame (1) is provided with frame (25), manipulator (26) are installed to the top of frame (25).

2. A robotic transfer device with visual decision making according to claim 1 wherein: the guide plates (11) are symmetrically distributed on two sides of the center line of the conveying belt (5), the distance between the guide plates (11) is smaller than the width of the conveying belt (5), and the guide plates (11) form a rotating structure through springs (12) and rotating shafts (10).

3. A robotic transfer device with visual decision making according to claim 1 wherein: the shape of the support (14) is inverted U-shaped, the width of the inner side of the support (14) is the same as the distance between the inner sides of the racks (1), and the support (14) and the racks (1) are vertically distributed.

4. A robotic transfer device with visual decision making according to claim 1 wherein: the clamping seat (16) is in a convex shape, the section size of the clamping seat (16) is matched with that of the clamping groove (15), and the clamping seat (16) forms a sliding structure through the clamping groove (15) and the bracket (14).

5. A robotic transfer device with visual decision making according to claim 1 wherein: the screw rod (17) and the clamping seat (16) are vertically distributed, the cross section size of the screw rod (17) is matched with the cross section size of the interior of the knob (19), and the screw rod (17) is in threaded connection with the knob (19).

6. A robotic transfer device with visual decision making according to claim 1 wherein: the drag chain (23) and the bracket (14) are distributed in parallel, and the height of the center line of the top end of the drag chain (23) is the same as that of the center line of the clamp (21).