CN212044740U - Full-automatic intelligent classification transfer robot with path planning capability based on camera identification - Google Patents

Abstract

The utility model discloses a full-automatic intelligent classification transfer robot with path planning capability based on camera identification, which comprises a protective cover, a roller, a supporting frame and a reinforcing mechanism, the utility model is provided with the reinforcing mechanism at the left end of the robot body, and an output shaft of an electric motor drives a rotating plate to rotate, and the rotating plate pushes the sliding frame and the connecting rods to move downwards, so that the sliding frame drives the right end of the T-shaped plate to move and the left end of the T-shaped plate to rotate in the process of moving downwards, at the moment, the T-shaped plate drives the two connecting rods to move left and right in opposite directions through the fixed cylinder, the two connecting rods respectively drive the two clamping plates to move radially to clamp and press down the top of the article when moving in opposite directions, make the bottom of article contact the top left end of bottom suspension fagging, reached and further consolidated the top and the bottom of article for article stabilize beneficial effect more at the in-process of transport.

Description

Full-automatic intelligent classification transfer robot with path planning capability based on camera identification

Technical Field

The utility model relates to a robot field of relevance specifically is a full-automatic intelligent classification transfer robot that has path planning ability based on camera discernment.

Background

The robot is a machine device which can automatically execute work, can accept human commands, can run a pre-arranged program, can perform actions according to principles formulated by artificial intelligence technology, has the task of assisting or replacing the work of human work, has wide application range, and brings birth to an intelligent carrying robot which can automatically work and classify articles according to the set program for improving the intelligence of the robot.

When the robot is used for carrying articles, the robot usually clamps and carries the articles in a double-arm clamping manner, and when the surface of the article to be carried is smooth or the height of the article to be carried is slightly higher, the article is difficult to stably clamp and carry in the bidirectional clamping manner, and the article is clamped by using larger gripping force and is easy to damage, so that inconvenience is brought to work.

SUMMERY OF THE UTILITY MODEL

Therefore, in order to solve the above-mentioned when the robot is carrying article, because the robot is usually with the tight mode of both arms clamp to article and press from both sides tight transport, and when the comparatively smooth or high article of height a little higher article in transport surface, this kind of two-way tight mode of clamp is difficult to stably press from both sides tight transport with article, and adopts great grabbing power to press from both sides tight article and cause the damage to article again easily, brings inconvenience not enough for work, the utility model provides a have the categorised transfer robot of full-automatic intelligence of route planning ability based on camera identification here.

The utility model is realized by constructing a full-automatic intelligent classification transfer robot with path planning capability based on camera identification, the device comprises a protective cover, a roller, a support frame and a reinforcing mechanism, the protective cover is fastened at the middle part of the top end face of the machine body, the protective cover completely covers the side surface of a storage battery, the middle part of the rear end face of the roller is fastened at the front output shaft of a driving motor, the support frame is locked at the left end of the top end face of the machine body, a steering engine is arranged at the top end face of the support frame, the reinforcing mechanism is arranged at the left end of the top end of the machine body, the reinforcing mechanism comprises a shell, a connecting rod, a clamping plate, a lower supporting mechanism, an electric motor, a rotating plate, a sliding frame, a guide rod, a fixed cylinder, a T-shaped plate and a fixed slot plate, the shell is locked at the left end of the top, the T-shaped plate is characterized in that the connecting rod penetrates through an opening formed in the middle of the left end face of the shell and the inner side of a round hole formed in the left end face of the sliding frame, the lower supporting mechanism is arranged at the left end of the bottom of the machine body, the upper end and the lower end of the rotating plate are hinged to an output shaft at the rear end of the electric motor and the middle of the top end face of the sliding frame respectively, the guide rod is fastened at the top end of the inner side of the shell and penetrates through a guide hole formed in the top end face of the sliding frame vertically, the fixing cylinder is arranged in the middle of the rear end face of the connecting rod in an integrated structure, the fixing cylinder movably extends into the inner side of a square groove formed in the middle of the top end face of the T-shaped plate, the right end face of the front end face of the.

Preferably, the infrared camera and the controller are installed at the left end and the right end of the top end face of the support frame respectively, the sensor is locked at the left end of the bottom end face of the support frame, the storage battery is fastened in the middle of the top end face of the machine body, the manipulator is arranged at the bottom of the left side of the infrared camera and is installed on the inner side of a mounting groove formed in the middle of the left end face of the machine body, the driving motor is installed on the inner side of a motor shell locked at the right end of the bottom end face of the machine body, an output shaft on the front side of the driving motor penetrates through the front end face.

Preferably, the supporting mechanism comprises a fixed cylinder, a sliding rod, a positioning bolt, a positioning screw hole and a lower supporting plate, the fixed cylinder is fastened at the left end of the bottom end face of the machine body, the sliding rod slides up and down along the inner side of the fixed cylinder, the sliding rod is arranged in the middle of the right end face of the top end face of the lower supporting plate in an integrated structure, and the positioning bolt penetrates through the side surface of the fixed cylinder and then is in threaded connection with the inner side of the positioning screw hole formed in the side surface.

Preferably, the connecting rod, the clamping plate and the fixed cylinder are arranged in the shell, and the two clamping plates are distributed in a bilateral symmetry mode.

Preferably, the clamping plate is L-shaped, and the left end face of the clamping plate is positioned at the top of the left end of the manipulator.

Preferably, the guide rods are arranged on the inner side of the shell, and the two guide rods are respectively positioned at the left end and the right end of the sliding frame.

Preferably, the rotating plate is formed by attaching two plate bodies, and the head and tail attaching surfaces of the two plate bodies are connected in a hinged mode.

Preferably, the rear end face of the fixing cylinder is flush with the rear end face of the T-shaped plate, and a wear-resistant stainless steel layer is arranged on the side surface of the fixing cylinder.

Preferably, the positioning screw holes are equidistantly formed in the side surfaces of the slide bars, and all the positioning screw holes are on the same Z axis.

Preferably, the electric motor is a YL-21 electric motor.

Preferably, the clamping plate is made of aluminum alloy.

The utility model has the advantages of as follows: the utility model discloses an improve and provide a full-automatic intelligent classification transfer robot that has path planning ability based on camera discernment here, compare with equipment of the same type, have following improvement:

the utility model relates to a full-automatic intelligent classification transfer robot with path planning capability based on camera identification, which is characterized in that a reinforcing mechanism is arranged at the left end of a machine body, the position of a lower support plate is adjusted by the height of an article to be transferred, then a positioning bolt is rotated to enter the inner side of a corresponding positioning screw hole, so that the position of the lower support plate is fixed, an electric motor is started, an output shaft of the electric motor drives a rotating plate to rotate, the rotating plate pushes a sliding frame and a connecting rod to move downwards, so that the sliding frame drives the right end of a T-shaped plate to move and the left end of the T-shaped plate to rotate in the downward movement process, the left end of the T-shaped plate drives the right end of the top of the T-shaped plate to rotate when rotating, the T-shaped plate drives two connecting rods to move leftwards and rightwards in opposite directions through a fixing cylinder, and the two connecting rods respectively drive two clamping plates to radially, make the bottom of article contact the top left end of bottom suspension fagging, reached and further consolidated the top and the bottom of article for article stabilize beneficial effect more at the in-process of transport.

Drawings

FIG. 1 is a schematic structural view of the present invention;

fig. 2 is a schematic view of the mounting structure of the driving motor of the present invention;

FIG. 3 is a schematic structural view of the reinforcing mechanism of the present invention;

fig. 4 is a schematic structural view of the front cross section of the housing of the present invention;

fig. 5 is an enlarged schematic view of a structure in fig. 4 according to the present invention.

Wherein: the device comprises a protective cover-1, a roller-2, a support frame-3, a photoelectric sensor-4, a storage battery-5, a machine body-6, a motor shell-7, a controller-8, an infrared camera-10, a mechanical arm-11, a mounting groove-12, a steering engine-13, a driving motor-14, a reinforcing mechanism-9, a shell-91, a connecting rod-92, a clamping plate-93, a lower support mechanism-94, an electric motor-95, a rotating plate-96, a sliding frame-97, a guide rod-98, a fixing cylinder-99, a T-shaped plate-910, a fixing groove plate-911, a fixing cylinder-941, a sliding rod-942, a positioning bolt-943, a positioning screw hole-944 and a lower support plate-945.

Detailed Description

The present invention will be described in detail with reference to the accompanying fig. 1-5, and the technical solutions in the embodiments of the present invention will be clearly and completely described, 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.

The utility model provides a full-automatic intelligent classification transfer robot with path planning capability based on camera identification, which comprises a protective cover 1, a roller 2, a support frame 3 and a reinforcing mechanism 9, wherein the protective cover 1 is fastened in the middle of the top end face of a machine body 6, the protective cover 1 completely covers the side surface of a storage battery 5, the middle of the rear end face of the roller 2 is fastened on the output shaft at the front side of a driving motor 14, the support frame 3 is locked at the left end of the top end face of the machine body 6, a steering engine 13 is installed on the top end face of the support frame 3, the reinforcing mechanism 9 is arranged at the left end of the top end of the machine body 6, the reinforcing mechanism 9 is composed of a shell 91, a connecting rod 92, a clamping plate 93, a lower supporting mechanism 94, an electric motor 95, a rotating plate 96, a sliding frame 97, a guide rod 98, a fixed cylinder 99, a T-shaped plate 910 and a fixed, the connecting rod 92 is fixedly connected to the top end face of the clamping plate 93, the connecting rod 92 penetrates through an opening formed in the middle of the left end face of the shell 91 and the inner side of a round hole formed in the left end face of the sliding frame 97, the lower supporting mechanism 94 is arranged at the left end of the bottom of the machine body 6 to reinforce and support the bottom of an article, the upper end and the lower end of the rotating plate 96 are respectively hinged to an output shaft at the rear end of the electric motor 95 and the middle of the top end face of the sliding frame 97 so as to be vertically moved through the sliding frame 97, the guide rod 98 is fastened at the top end of the inner side of the shell 91 and vertically penetrates through a guide hole formed in the top end face of the sliding frame 97, the fixing cylinder 99 is an integrated structure and is arranged in the middle of the rear end face of the connecting rod 92, the fixing cylinder 99 movably extends into the inner side of a square groove formed in the middle of the top end face of, the T-shaped plate 910 rotates to drive the connecting rod 92 to move, and the fixed slot plate 911 is locked in the middle of the left end of the front end surface inside the casing 91.

Further, an infrared camera 10 and a controller 8 are respectively installed at the left end and the right end of the top end face of the support frame 3, a sensor 4 is locked at the left end of the bottom end face of the support frame 3, the storage battery 5 is fastened in the middle of the top end face of the machine body 6, a manipulator 11 is arranged at the bottom of the left side of the infrared camera 10, the manipulator 11 is installed on the inner side of a mounting groove 12 formed in the middle of the left end face of the machine body 6, the driving motor 14 is installed on the inner side of a motor shell 7 locked at the right end face of the bottom end face of the machine body 6, an output shaft at the front side of the driving motor 14 penetrates through the front end face of the inner side of the motor shell 7, and the storage battery 5, the steering.

Further, prop mechanism 94 and constitute by fixed cylinder 941, slide bar 942, set bolt 943, location screw 944 and bottom suspension fagging, fixed cylinder 941 is fastened in 6 bottom surfaces left ends of organism, slide bar 942 slides from top to bottom along fixed cylinder 941 inboard, and slide bar 942 sets up in bottom suspension fagging top end right-hand member middle part for the integral structure, is convenient for slide bar 942 drives bottom suspension fagging and removes, set bolt 943 passes behind the fixed cylinder 941 side surface and the inboard threaded connection of the location screw 944 that the slide bar 942 side surface was seted up, fixes the position of slide bar 942.

Further, the connecting rod 92, the clamping plate 93 and the fixing cylinder 99 are arranged in the shell 91, and the two clamping plates 93 are symmetrically distributed left and right, so that the clamping of the objects is more stable.

Further, splint 93 is the L style of calligraphy appearance, and splint 93's left end face is located the left end top of manipulator 11, is convenient for press from both sides tightly the top and the side of article.

Further, the guide rods 98 are disposed on the inner side of the housing 91, and the two guide rods 98 are respectively disposed at the left end and the right end of the sliding frame 97, so that the sliding frame 97 can move more stably.

Further, the rotating plate 96 is formed by two plates which are attached to each other, and the head and tail attaching surfaces of the two plates are connected in a hinged manner, so that the rotating plate 96 drives the sliding frame 97 to move stably.

Further, the rear end face of the fixing cylinder 99 is flush with the rear end face of the T-shaped plate 910, and a layer of wear-resistant stainless steel is disposed on the side surface of the fixing cylinder 99 to prevent the fixing cylinder 99 from being excessively worn.

Furthermore, more than two side surfaces of the sliding rod 942 are arranged at equal intervals in the positioning screw holes 944, and all the positioning screw holes 944 are on the same Z axis, so that the sliding rods 942 at different positions can be conveniently fixed.

Furthermore, the electric motor 95 is an YL-21 electric motor, and is low in noise.

Furthermore, the clamping plate 93 is made of aluminum alloy and is light in weight.

The utility model provides a full-automatic intelligent classification transfer robot with path planning capability based on camera identification through improvement, and the working principle is as follows;

firstly, inputting a corresponding program into the controller 8, so as to set the starting sequence of the steering engine 13, the driving motor 14 and the electric motor 95, and simultaneously starting the photoelectric sensor 4 and the infrared camera 10;

secondly, after the program of the robot is set, the driving motor 14 is electrified to drive the output shaft to drive the roller 2 to rotate so as to drive the machine body 6 to move, so that the machine body 6 detects the articles to be carried through the photoelectric sensor 4 and the infrared camera 10 in the moving process, when the positions of the articles are detected, the robot is integrally moved to the designated position through the roller 2, and the machine body 6 is used for starting the mechanical arm 11 to clamp the two sides of the articles;

thirdly, when the manipulator 11 clamps the object, the driving motor 95 is started, so that the output shaft of the electric motor 95 drives the rotating plate 96 to rotate, the rotating plate 96 pushes the sliding frame 97 and the connecting rods 92 to move downwards, the sliding frame 97 drives the right end of the T-shaped plate 910 to move and the left end of the T-shaped plate to rotate in the downward movement process, the left end of the T-shaped plate 910 drives the right end of the top of the T-shaped plate 910 to rotate when the left end of the T-shaped plate 910 rotates, at this time, the T-shaped plate 910 drives the two connecting rods 92 to move left and right in opposite directions through the fixing cylinders 99, and the two connecting rods 92 respectively drive the two clamping plates 93 to move radially to clamp and press down the top of the object when the two connecting rods 92 move in opposite directions, so that the bottom of the object contacts with the left end of the top;

fourthly, finally, after clamping the articles, the driving motor 14 can be started reversely, so that the output shaft of the driving motor 14 drives the roller 2 to rotate reversely to drive the robot to carry the articles integrally.

The utility model provides a full-automatic intelligent classification transfer robot based on camera discernment has route planning ability, through starting driving motor 95, make electric motor 95's output shaft drive commentaries on classics board 96 and rotate, and commentaries on classics board 96 pushes away sliding frame 97 and connecting rod 92 and moves down, make sliding frame 97 drive the right-hand member of T template 910 and the left end rotates in the course of moving down, and the left end of T template 910 drives the top right-hand member of T template 910 and rotates when rotating, at this moment T template 910 drives two connecting rods 92 through fixed cylinder 99 and moves left and right in opposite direction, and two connecting rods 92 drive two splint 93 radial movement respectively and press down the top clamp of article when moving in opposite direction, make the bottom of article contact with the top left end of under bracing board 945, reached and further consolidated top and bottom of article, the top and the bottom of the article are further reinforced, so that the beneficial effect of the article is more stable in the carrying process.

The basic principle and the main characteristics of the utility model and the advantages of the utility model have been shown and described above, and the utility model discloses the standard part that uses all can purchase from the market, and dysmorphism piece all can be customized according to the record of the description with the drawing, and the concrete connection mode of each part all adopts conventional means such as ripe bolt rivet among the prior art, welding, and machinery, part and equipment all adopt prior art, conventional model, and conventional connection mode in the prior art is adopted in addition to circuit connection, and the details are not repeated here.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (9)

1. The full-automatic intelligent classification carrying robot with the path planning capability based on camera identification comprises a protective cover (1), rollers (2) and a support frame (3), wherein the protective cover (1) is fastened in the middle of the top end face of a machine body (6), the protective cover (1) completely covers the side surface of a storage battery (5), the middle of the rear end face of each roller (2) is fastened on an output shaft on the front side of a driving motor (14), the support frame (3) is locked at the middle left end of the top end face of the machine body (6), and a steering engine (13) is installed on the top end face of the support frame (3);

the method is characterized in that: still include strengthening mechanism (9), strengthening mechanism (9) set up in organism (6) top left end, strengthening mechanism (9) comprise casing (91), connecting rod (92), splint (93), lower support mechanism (94), electric motor (95), commentaries on classics board (96), sliding frame (97), guide bar (98), fixed cylinder (99), T template (910) and fixed frid (911), casing (91) closure in organism (6) top left end, and casing (91) inboard top fixed mounting have electric motor (95), connecting rod (92) fixed connection is in splint (93) top end face, and connecting rod (92) run through the opening of seting up in casing (91) left end face middle part and the round hole inboard of seting up in sliding frame (97) left end face, lower support mechanism (94) set up in organism (6) bottom left end, commentaries on classics board (96) upper and lower both ends articulate respectively in electric motor (95) rear end output shaft and sliding frame (95), (the) upper and lower both ends of sliding frame (911) 97) The guide rod (98) is fastened at the top end of the inner side of the shell (91), the guide rod (98) vertically penetrates through a guide hole formed in the top end face of the sliding frame (97), the fixing cylinder (99) is arranged in the middle of the rear end face of the connecting rod (92) in an integrated structure, the fixing cylinder (99) movably extends into the inner side of a square groove formed in the middle of the top end face of the T-shaped plate (910), the right end of the front end face of the T-shaped plate (910) is rotatably connected with the front end of the inner side of the sliding frame (97) through a rotating shaft, the left end of the front end face of the T-shaped plate (910) movably extends into the inner side of the fixing groove plate (911), and the fixing groove plate (911) is locked in the middle of the left end.

2. The full-automatic intelligent classification transfer robot with the path planning capability based on the camera identification is characterized in that: the intelligent control device is characterized in that an infrared camera (10) and a controller (8) are respectively mounted at the left end and the right end of the top end face of the support frame (3), a sensor (4) is locked at the left end of the bottom end face of the support frame (3), the storage battery (5) is fastened in the middle of the top end face of the machine body (6), a manipulator (11) is arranged at the bottom of the left side of the infrared camera (10), the manipulator (11) is mounted on the inner side of a mounting groove (12) formed in the middle of the left end face of the machine body (6), the driving motor (14) is mounted on the inner side of a motor shell (7) locked at the right end face of the bottom end face of the machine body (6), an output shaft at the front side of the driving motor (14) penetrates through the inner front end face of the motor shell (7), and the storage.

3. The full-automatic intelligent classification transfer robot with the path planning capability based on the camera identification is characterized in that: prop mechanism (94) and constitute by fixed section of thick bamboo (941), slide bar (942), set bolt (943), location screw (944) and bottom suspension fagging (945), fixed section of thick bamboo (941) is fastened in organism (6) bottom end left end, slide bar (942) slide from top to bottom along fixed section of thick bamboo (941) inboard, and slide bar (942) set up in bottom suspension fagging (945) top end right-hand member middle part for integrated structure, set bolt (943) pass behind fixed section of thick bamboo (941) side surface with location screw (944) inboard threaded connection that slide bar (942) side surface was seted up.

4. The full-automatic intelligent classification transfer robot with the path planning capability based on the camera identification is characterized in that: the connecting rod (92), the clamping plate (93) and the fixed cylinder (99) are arranged in the shell (91), and the two clamping plates (93) are distributed in a bilateral symmetry mode.

5. The full-automatic intelligent classification transfer robot with the path planning capability based on the camera identification is characterized in that: the clamping plate (93) is L-shaped, and the left end face of the clamping plate (93) is positioned at the top of the left end of the manipulator (11).

6. The full-automatic intelligent classification transfer robot with the path planning capability based on the camera identification is characterized in that: the two guide rods (98) are arranged on the inner side of the shell (91), and the two guide rods (98) are respectively positioned at the left end and the right end of the sliding frame (97).

7. The full-automatic intelligent classification transfer robot with the path planning capability based on the camera identification is characterized in that: the rotating plate (96) is formed by pasting two plate bodies, and the head and tail pasting surfaces of the two plate bodies are connected in a hinged mode.

8. The full-automatic intelligent classification transfer robot with the path planning capability based on the camera identification is characterized in that: the rear end face of the fixed cylinder (99) is flush with the rear end face of the T-shaped plate (910), and a wear-resistant stainless steel layer is arranged on the side surface of the fixed cylinder (99).

9. The full-automatic intelligent classification transfer robot with the path planning capability based on the camera identification is characterized in that: the positioning screw holes (944) are provided with more than two side surfaces at equal intervals on the sliding rod (942), and all the positioning screw holes (944) are on the same Z axis.

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