CN213054821U

CN213054821U - Robot is grabbing device for unordered material loading based on 3D vision

Info

Publication number: CN213054821U
Application number: CN202022037852.1U
Authority: CN
Inventors: 刘振亭; 籍永强
Original assignee: Shandong Haide Zhihui Intelligent Equipment Co ltd
Current assignee: Shandong Haide Zhihui Intelligent Equipment Co ltd
Priority date: 2020-09-16
Filing date: 2020-09-16
Publication date: 2021-04-27
Anticipated expiration: 2030-09-16

Abstract

The utility model discloses a grabbing device for unordered material loading of robot based on 3D vision, which comprises a substrate, the top fixedly connected with machine case of base plate, the top fixedly connected with transmission band of machine case, the robot body of the top fixedly connected with 3D vision of transmission band, the robot body includes vision camera and grabbing device body, vision camera fixed connection is at the top of transmission band, grabbing device body fixed mounting is on the right side at transmission band top, and the grabbing device body includes the base and snatchs the arm. The utility model discloses a set up drive mechanism, drive the slip fixed block and move to the inboard, make slip fixed block and fixed column separation, again with base and fixed column separation, take off the grabbing device body with whole again to reached the effect that the person of facilitating the use carries out the dismantlement, solved current robot unordered for the material loading grabbing device problem that the person of facilitating the use dismantled not based on the 3D vision.

Description

Robot is grabbing device for unordered material loading based on 3D vision

Technical Field

The utility model relates to the technical field of robot, specifically be a robot is grabbing device for unordered material loading based on 3D vision.

Background

The robot has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the work efficiency and quality, serves human life, and expands or extends the activity and capability range of the human beings.

The robot of 3D vision is one of robot, the unordered for the material loading grabbing device of robot based on 3D vision is the device of the robot of 3D vision, but the unordered for the material loading grabbing device of robot based on 3D vision that has now is connected with robot mounting base through a plurality of large-scale bolts, the person of not being convenient for dismantles, it maintains unordered for the material loading grabbing device to lead to the user to stand in the eminence when the unordered for the material loading grabbing device of maintenance, thereby increase maintenance personal's danger degree, unordered for the material loading grabbing device's practicality has been reduced.

SUMMERY OF THE UTILITY MODEL

For solving the problem that provides in the above-mentioned background art, the utility model aims to provide a grabbing device for unordered material loading of robot based on 3D vision possesses the advantage that convenient to use person carries out the dismantlement, has solved current grabbing device for unordered material loading of robot based on 3D vision and has carried out the problem of dismantling not convenient to use person.

In order to achieve the above object, the utility model provides a following technical scheme: a grabbing device for disordered feeding of a robot based on 3D vision comprises a base plate, a machine case is fixedly connected to the top of the base plate, a transmission belt is fixedly connected to the top of the machine case, a robot body with 3D vision is fixedly connected to the top of the transmission belt, the robot body comprises a vision camera and a grabbing device body, the vision camera is fixedly connected to the top of the transmission belt, the grabbing device body is fixedly installed on the right side of the top of the transmission belt, the grabbing device body comprises a base and grabbing arms, the base is movably installed on the top of the transmission belt, the grabbing arms are fixedly installed on the top of the base, fixing columns are fixedly connected to two sides of the top of the transmission belt and correspond to the bottom of the base, the tops of the fixing columns penetrate through the base and extend to the outside of the base, and sliding fixing blocks are connected to, the inboard of slip fixed block runs through the fixed column and extends to the outside of fixed column, the back of base is provided with drive mechanism.

As the utility model discloses it is preferred, drive mechanism includes dwang, rolling disc, pulling rod and transfer line, the dwang sets up the back at the base, the front of dwang runs through the base and extends to the inside and the rolling disc fixed connection of base, pulling rod movable mounting is in the positive both sides of rolling disc, transfer line movable mounting is in the outside of pulling rod, the outside and the fixed block fixed connection that slides of transfer line.

As the utility model discloses it is preferred, the back fixedly connected with hand carousel of dwang, the top at the hand carousel back is provided with the pilot pin, the front of pilot pin runs through the inside of hand carousel and extending to the base.

As the utility model discloses it is preferred, the fixed surface of dwang is connected with firm bearing, firm bearing's the back and base fixed connection.

As the utility model discloses it is preferred, the inboard top of transfer line and the equal fixedly connected with reset spring in bottom, reset spring keeps away from the one end fixedly connected with fixed plate of transfer line, the top and the bottom of fixed plate respectively with the top and the bottom fixed connection of base inner wall.

As the utility model discloses it is preferred, the equal fixedly connected with guide block in top and the bottom of transfer line, the guide way has all been seted up to the both sides of base inner wall top and bottom, guide block and guide way sliding connection.

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

1. the utility model discloses a set up drive mechanism, it removes to the inboard to drive the slip fixed block, make slip fixed block and fixed column separation, again with base and fixed column separation, again with the whole grabbing device body of taking off, thereby reached the effect that the person of facilitating the use dismantled, the problem that current grabbing device for the unordered material loading of robot based on 3D vision carries out the dismantlement is not convenient for the user to have solved, this grabbing device for the unordered material loading of robot based on 3D vision, it carries out the advantage of dismantling to possess the person of facilitating the use, the user does not need the user to stand the eminence to keep in repair grabbing device for the unordered material loading when maintaining unordered material loading, thereby increase maintenance personal's degree of safety, the practicality of grabbing device for the unordered material loading has been improved.

2. The utility model discloses a set up the rolling disc, can stimulate the pulling rod, make the pulling rod move to the inboard.

3. The utility model discloses a set up the hand carousel, can increase the area of contact between dwang and the hand to the manual dwang that rotates of person of facilitating the use, through setting up the gim peg, can fix the adversary carousel, prevent that the pivoted phenomenon from appearing when the hand carousel need not rotate.

4. The utility model discloses a set up firm bearing, can fix the dwang, prevent that the phenomenon of rocking from appearing in the dwang.

5. The utility model discloses a set up reset spring and fixed plate, can reset the transmission rod to the person of facilitating the use uses.

6. The utility model discloses a set up guide block and guide way, can lead to the transfer line, prevent that the phenomenon of skew from appearing in the transfer line.

Drawings

FIG. 1 is a view of the structure of the present invention;

FIG. 2 is a schematic side view of the conveyor belt of FIG. 1 according to the present invention;

FIG. 3 is a right view of the structure of the grasping arm of FIG. 1 according to the present invention;

FIG. 4 is a left side view of the rotary plate of FIG. 1 according to the present invention;

fig. 5 is an enlarged structural view of a portion a in fig. 1 according to the present invention.

In the figure: 1. a substrate; 2. a chassis; 3. a conveyor belt; 4. a robot body; 41. a vision camera; 42. a gripping device body; 421. a base; 422. grabbing an arm; 5. sliding the fixed block; 6. a transmission mechanism; 61. rotating the rod; 62. rotating the disc; 63. pulling a rod; 64. a transmission rod; 7. a hand turntable; 8. positioning bolts; 9. stabilizing the bearing; 10. a return spring; 11. a fixing plate; 12. a guide block; 13. a guide groove; 14. and (5) fixing the column.

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.

As shown in fig. 1 to 5, the gripping device for unordered feeding of a robot based on 3D vision provided by the present invention comprises a substrate 1, a chassis 2 is fixedly connected to the top of the substrate 1, a transmission belt 3 is fixedly connected to the top of the chassis 2, a robot body 4 with 3D vision is fixedly connected to the top of the transmission belt 3, the robot body 4 comprises a vision camera 41 and a gripping device body 42, the vision camera 41 is fixedly connected to the top of the transmission belt 3, the gripping device body 42 is fixedly installed on the right side of the top of the transmission belt 3, the gripping device body 42 comprises a base 421 and a gripping arm 422, the base 421 is movably installed on the top of the transmission belt 3, the gripping arm 422 is fixedly installed on the top of the base 421, fixed columns 14 are fixedly connected to both sides of the top of the transmission belt 3 and corresponding to the bottom of the base, the tops of the fixed columns 14 penetrate through the, the inside sliding connection of fixed column 14 has slip fixed block 5, and the inboard of slip fixed block 5 runs through fixed column 14 and extends to the outside of fixed column 14, and the back of base 421 is provided with drive mechanism 6.

Referring to fig. 5, the transmission mechanism 6 includes a rotation rod 61, a rotation disc 62, a pulling rod 63 and a transmission rod 64, the rotation rod 61 is disposed on the back surface of the base 421, the front surface of the rotation rod 61 penetrates through the base 421 and extends to the inside of the base 421 to be fixedly connected with the rotation disc 62, the pulling rod 63 is movably mounted on two sides of the front surface of the rotation disc 62, the transmission rod 64 is movably mounted on the outer side of the pulling rod 63, and the outer side of the transmission rod 64 is fixedly connected with the fixed sliding block 5.

As a technical optimization scheme of the utility model, through setting up rolling disc 62, can stimulate the pulling rod 63, make the pulling rod 63 move to the inboard.

Referring to fig. 4, a hand rotating plate 7 is fixedly connected to the back surface of the rotating rod 61, a positioning bolt 8 is disposed on the top of the back surface of the hand rotating plate 7, and the front surface of the positioning bolt 8 penetrates through the hand rotating plate 7 and extends to the inside of the base 421.

As a technical optimization scheme of the utility model, through setting up hand carousel 7, can increase the area of contact between dwang 61 and the hand to the person of facilitating the use manually rotates dwang 61, through setting up gim peg 8, can fix adversary carousel 7, prevents that pivoted phenomenon from appearing when the hand carousel 7 need not rotate.

Referring to fig. 4, the fixing bearing 9 is fixedly connected to the surface of the rotating lever 61, and the back surface of the fixing bearing 9 is fixedly connected to the base 421.

As a technical optimization scheme of the utility model, through setting up firm bearing 9, can fix dwang 61, prevent that the phenomenon of rocking from appearing in dwang 61.

Referring to fig. 5, the top and the bottom of the inner side of the driving rod 64 are fixedly connected with a return spring 10, one end of the return spring 10 away from the driving rod 64 is fixedly connected with a fixing plate 11, and the top and the bottom of the fixing plate 11 are fixedly connected with the top and the bottom of the inner wall of the base 421 respectively.

As a technical optimization scheme of the utility model, through setting up reset spring 10 and fixed plate 11, can reset to transfer line 64 to the person of facilitating the use uses.

Referring to fig. 5, the top and the bottom of the transmission rod 64 are both fixedly connected with guide blocks 12, guide grooves 13 are respectively formed on both sides of the top and the bottom of the inner wall of the base 421, and the guide blocks 12 are slidably connected with the guide grooves 13.

As a technical optimization scheme of the utility model, through setting up guide block 12 and guide way 13, can lead to transfer line 64, prevent that the phenomenon of skew from appearing in transfer line 64.

The utility model discloses a theory of operation and use flow: during the use, the manual carousel 7 of user, carousel 7 drives dwang 61 and rotates, dwang 61 drives the carousel 62 and rotates, carousel 62 drives the pulling pole 63 and moves to the inboard, the pulling pole 63 drives the transfer line 64 and moves to the inboard, transfer line 64 drives the inboard removal of slip fixed block 5, slip fixed block 5 and fixed column 14 separation, again with base 421 and fixed column 14 separation, will wholly take off grabbing device body 42 to the purpose that convenient to use person dismantled has been reached.

In summary, the following steps: this grabbing device for unordered material loading of robot based on 3D vision, through setting up drive mechanism 6, drive slip fixed block 5 and move to the inboard, make slip fixed block 5 and fixed column 14 separation, separate base 421 and fixed column 14 again, take off grabbing device body 42 with whole again to reached the effect that convenient to use person carries out the dismantlement, solved current grabbing device for unordered material loading of robot based on 3D vision problem that the user of not being convenient for dismantled.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a grabbing device for unordered material loading of robot based on 3D vision, includes base plate (1), its characterized in that: the top fixedly connected with quick-witted case (2) of base plate (1), the top fixedly connected with transmission band (3) of quick-witted case (2), the top fixedly connected with robot body (4) of 3D vision of transmission band (3), robot body (4) include vision camera (41) and grabbing device body (42), vision camera (41) fixed connection is at the top of transmission band (3), grabbing device body (42) fixed mounting is on the right side at transmission band (3) top, grabbing device body (42) include base (421) and snatch arm (422), base (421) movable mounting is at the top of transmission band (3), snatch arm (422) fixed mounting is at the top of base (421), both sides at transmission band (3) top and the bottom that corresponds base (421) all fixedly connected with fixed column (14), the top of fixed column (14) runs through base (421) and extends to the outside of base (421), the inside sliding connection of fixed column (14) has slip fixed block (5), the inboard of slip fixed block (5) runs through fixed column (14) and extends to the outside of fixed column (14), the back of base (421) is provided with drive mechanism (6).

2. The grabbing device for unordered material loading of robot based on 3D vision of claim 1, characterized in that: drive mechanism (6) are including dwang (61), rolling disc (62), pulling pole (63) and transfer line (64), dwang (61) sets up the back in base (421), the front of dwang (61) runs through base (421) and extends to the inside and rolling disc (62) fixed connection of base (421), pulling pole (63) movable mounting is in the positive both sides of rolling disc (62), transfer line (64) movable mounting is in the outside of pulling pole (63), the outside and the sliding fixed block (5) fixed connection of transfer line (64).

3. The grabbing device for unordered material loading of robot based on 3D vision of claim 2, characterized in that: the back fixedly connected with hand carousel (7) of dwang (61), the top at the hand carousel (7) back is provided with pilot pin (8), the inside that hand carousel (7) and extend to base (421) is run through in the front of pilot pin (8).

4. The grabbing device for unordered material loading of robot based on 3D vision of claim 2, characterized in that: the fixed surface of dwang (61) is connected with firm bearing (9), the back and base (421) fixed connection of firm bearing (9).

5. The grabbing device for unordered material loading of robot based on 3D vision of claim 2, characterized in that: the top and the bottom of transfer line (64) inboard all fixedly connected with reset spring (10), one end fixedly connected with fixed plate (11) of transfer line (64) are kept away from in reset spring (10), the top and the bottom of fixed plate (11) respectively with the top and the bottom fixed connection of base (421) inner wall.

6. The grabbing device for unordered material loading of robot based on 3D vision of claim 2, characterized in that: the equal fixedly connected with guide block (12) in top and the bottom of transfer line (64), guide way (13) have all been seted up to the both sides of base (421) inner wall top and bottom, guide block (12) and guide way (13) sliding connection.