CN213647584U

CN213647584U - Industrial manipulator based on machine vision

Info

Publication number: CN213647584U
Application number: CN202021722015.6U
Authority: CN
Inventors: 李贵洋
Original assignee: Qingdao Haizhichen Industrial Equipment Co ltd
Current assignee: Qingdao Haizhichen Industrial Equipment Co ltd
Priority date: 2020-08-18
Filing date: 2020-08-18
Publication date: 2021-07-09
Anticipated expiration: 2030-08-18

Abstract

The utility model discloses an industrial robot based on machine vision, including arm, distance sensor, screw rod and visual sensor, the left and right sides of arm below is all fixed and is provided with the connecting plate, and the front end fixedly connected with distance sensor of connecting plate, the front end fixedly connected with visual sensor of arm, and visual sensor's fixed surface is provided with the connection shell to the inside fixed mounting of connection shell has electric putter, electric putter's front end fixedly connected with push pedal, and the left and right sides of push pedal is the fixed slider that is provided with all, the left and right sides of connection shell front end is all fixed and is provided with the flange, and the inside movable mounting of flange has square kelly to the front end fixedly connected with movable block of square kelly, the screw has been seted up to the inside of movable block. This industrial robot based on machine vision can carry out equidistant putting through the sensor on the device, and the convenience is simultaneously stabilized and adjustable centre gripping work to the object.

Description

Industrial manipulator based on machine vision

Technical Field

The utility model relates to an industrial robot technical field specifically is an industrial robot based on machine vision.

Background

The industrial manipulator is one kind of industrial machine, and mainly used carries out work such as processing, arrangement classification to the article, rotates through the multiaxis and carries out the regulation of different angles to the manipulator, and assembly line both sides in industrial production's in-process need use the industrial manipulator to carry out auxiliary work usually.

Some industrial robots currently on the market:

(1) when the existing industrial manipulator is used, the auxiliary processing and treatment work is usually carried out on parts placed on a conveying belt at equal intervals, so that the positioning and treatment work is inconvenient to carry out in the using process, and the using effect is poor;

(2) the existing manipulator is inconvenient to adjust the length of front-end clamping equipment in the using process, cannot clamp objects of different sizes well, and is low in application range.

We propose an industrial robot based on machine vision in order to solve the problems set forth above.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an industrial robot based on machine vision to some industrial robots on the current market that solve above-mentioned background and provide are not convenient for carry out the distance and put, inconvenient come the problem of adjusting the length of holding the subassembly according to the demand moreover.

In order to achieve the above object, the utility model provides a following technical scheme: an industrial manipulator based on machine vision comprises a mechanical arm, a distance sensor, a screw rod and a vision sensor, wherein the left side and the right side below the mechanical arm are fixedly provided with a connecting plate, the front end of the connecting plate is fixedly connected with the distance sensor, the front end of the mechanical arm is fixedly connected with the vision sensor, the surface of the vision sensor is fixedly provided with a connecting shell, the interior of the connecting shell is fixedly provided with an electric push rod, the front end of the electric push rod is fixedly connected with a push plate, the left side and the right side of the push plate are fixedly provided with slide blocks, the left side and the right side of the front end of the connecting shell are fixedly provided with convex plates, the interior of each convex plate is movably provided with a square clamping rod, the front end of each square clamping rod is fixedly connected with a movable block, the interior of each movable block is provided with a, the fixed board that changes that is provided with in front end of top cap, and the fixed gum cover that is provided with in the outside of changeing the board to the rear end fixedly connected with friction pad of gum cover, the fixed extrusion piece that is provided with in the outside of gum cover front end, the spout has been seted up to the inside of movable block.

Preferably, the convex plates are symmetrically distributed on the left side and the right side of the connecting shell, and the structures of the convex plates on the left side and the right side of the connecting shell are completely the same.

Preferably, the square clamping rod penetrates through the inner part of the convex plate, the convex plate and the square clamping rod are of an integrated structure, and the upper half part of the side surface of the convex plate is inclined.

Preferably, the movable block forms a sliding structure with the convex plate through the square clamping rod, and the movable block is in threaded connection with the screw rod.

Preferably, the rubber sleeve, the friction pad and the extrusion block are all made of rubber, and the cross section of the extrusion block is in a square shape with a hollow interior.

Preferably, the inner wall of spout and the outer wall of slider are laminated mutually, and the shape of slider and the shape of spout are isosceles trapezoid, the movable block passes through to constitute transmission structure between slider and spout and the push pedal.

Compared with the prior art, the beneficial effects of the utility model are that: this industrial robot based on machine vision:

(1) the device is provided with a sliding type movable block, the movable block is limited by a square clamping rod on the side surface of the movable block, so that the movable block can only move leftwards and rightwards, and then the movable block is driven by an inclined sliding groove and a sliding block, so that an electric push rod on the device drives the movable blocks on the left side and the right side to be close when the electric push rod is pushed forwards, an object is clamped, the using effect of the device is improved, and clamping in different degrees is facilitated;

(2) the device can adjust the position of extrusion piece through the last screw rod of rotating device, thereby adjust the length of holding the subassembly, the centre gripping effect can be guaranteed to the square extrusion piece on the device, the friction pad can provide the resistance when rotating, avoid extrusion piece to rotate easily when centre gripping object, the practicality of device has been promoted, all be provided with distance sensor in the base left and right sides of device, can adjust the position that detects through distance sensor, thereby adapt to the object of putting on the conveyer belt, and the top of device is provided with visual sensor, can come to pass through processing unit real-time processing according to the position that the object located on the conveyer belt, thereby cooperate the arm to carry out more accurate operation.

Drawings

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

FIG. 2 is a schematic view of the structure at A in FIG. 1 according to the present invention;

FIG. 3 is a schematic view of the connection structure of the push plate and the movable block of the present invention;

fig. 4 is a schematic view of the top cover of the present invention.

In the figure: 1. a mechanical arm; 2. a connecting plate; 3. a distance sensor; 4. a connecting shell; 5. an electric push rod; 6. pushing the plate; 7. a slider; 8. a convex plate; 9. a square clamping rod; 10. a movable block; 11. a screw hole; 12. a screw; 13. a top cover; 14. rotating the plate; 15. a rubber sleeve; 16. a friction pad; 17. extruding the block; 18. a chute; 19. a vision sensor.

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: an industrial manipulator based on machine vision comprises a mechanical arm 1, a connecting plate 2, a distance sensor 3, a connecting shell 4, an electric push rod 5, a push plate 6, a sliding block 7, a convex plate 8, a square clamping rod 9, a movable block 10, a screw hole 11, a screw rod 12, a top cover 13, a rotating plate 14, a rubber sleeve 15, a friction pad 16, an extrusion block 17, a sliding groove 18 and a vision sensor 19, wherein the connecting plate 2 is fixedly arranged on the left side and the right side below the mechanical arm 1, the distance sensor 3 is fixedly connected with the front end of the connecting plate 2, the vision sensor 19 is fixedly connected with the front end of the mechanical arm 1, the connecting shell 4 is fixedly arranged on the surface of the vision sensor 19, the electric push rod 5 is fixedly arranged in the connecting shell 4, the push plate 6 is fixedly connected with the front end of the electric push rod 5, the sliding block 7 is fixedly arranged on the left side and the right side of, and the inside movable mounting of flange 8 has square kelly 9, and the front end fixedly connected with movable block 10 of square kelly 9, screw 11 has been seted up to the inside of movable block 10, and the internally mounted of screw 11 has screw rod 12, and the front end fixedly connected with top cap 13 of screw rod 12, the front end of top cap 13 is fixed and is provided with commentaries on classics board 14, and the fixed gum cover 15 that is provided with in the outside of commentaries on classics board 14, and the rear end fixedly connected with friction pad 16 of gum cover 15, the fixed extrusion block 17 that is provided with in the outside of gum cover 15 front end, spout 18 has been seted up to the inside of movable block 10.

The convex plates 8 are symmetrically distributed on the left side and the right side of the connecting shell 4, the structures on the convex plates 8 on the left side and the right side of the connecting shell 4 are completely the same, the movable block 10 can be born and limited through the convex plates 8, and the normal implementation of a subsequent transmission structure is facilitated.

The square clamping rod 9 penetrates through the inner part of the convex plate 8, the convex plate 8 and the square clamping rod 9 are of an integrated structure, the upper half part of the side surface of the convex plate 8 is inclined, and the movable block 10 can be stably moved left and right through the square clamping rod 9 and cannot rotate.

The movable block 10 forms a sliding structure with the convex plate 8 through the square clamping rod 9, the movable block 10 is in threaded connection with the screw 12, and the position of the extrusion block 17 can be adjusted and fixed by rotating the screw 12.

The rubber sleeve 15, the friction pad 16 and the extrusion block 17 are all made of rubber, the cross section of the extrusion block 17 is in a square shape with a hollow interior, and the extrusion block 17 with the square shape can be used for better clamping and fixing objects.

The inner wall of spout 18 and the outer wall of slider 7 laminate mutually, and the shape of slider 7 and the shape of spout 18 are isosceles trapezoid, and movable block 10 constitutes transmission structure through between slider 7 and spout 18 and the push pedal 6, can come the cooperation electric putter 5 to adjust the interval between two adjacent extrusion blocks 17 through the spout 18 on the device.

The working principle is as follows: when the industrial manipulator based on machine vision is used, as shown in fig. 1, the device is matched with the mechanical arms 1 which are arranged in parallel through distance sensors 3 on connecting plates 2 on the left side and the right side below the mechanical arm 1 to adjust and fix the position distance, so that the mechanical arms 1 at all positions are arranged at equal intervals, objects on a conveying line are scanned through a vision sensor 19 at the front end of the mechanical arm 1 to be matched with the mechanical arms 1 to be used, the device adjusts the overall height of an extrusion block 17 through a screw 12 in a screw hole 11 in a movable block 10 according to needs before use, a friction pad 16 at the tail end of a rubber sleeve 15 provides friction force when a top cover 13 rotates, the extrusion block 17 is prevented from being easily twisted, and the overall appearance of the extrusion block 17 is square, so that the objects can be better clamped through the surfaces of the extrusion block 17;

as shown in fig. 2-4, the device rotates the board 14 to make the top cover 13 more convenient to rotate, firstly, the push board 6 is moved forward by pushing the electric push rod 5, the sliding block 7 on the surface of the push board 6 slides in the sliding slot 18 inside the movable block 10, and the movable block 10 is spread, so that the sliding slots 18 on the left and right sides are far away from each other, because the convex board 8 is clamped with the movable block 10 through the sliding block 7 and the sliding slot 18, so that the movable block 10 will approach each other during retracting the electric push rod 5, and the square clamping rod 9 ensures that the movable block 10 can slide left and right stably, so as to perform adjustable clamping work through the extrusion block 17, which is the working process of the whole device, and the content not described in detail in this specification is the prior art known to those 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. An industrial manipulator based on machine vision, includes arm (1), distance sensor (3), screw rod (12) and vision sensor (19), its characterized in that: the left side and the right side below the mechanical arm (1) are both fixedly provided with a connecting plate (2), the front end of the connecting plate (2) is fixedly connected with a distance sensor (3), the front end of the mechanical arm (1) is fixedly connected with a vision sensor (19), the surface of the vision sensor (19) is fixedly provided with a connecting shell (4), the inside of the connecting shell (4) is fixedly provided with an electric push rod (5), the front end of the electric push rod (5) is fixedly connected with a push plate (6), the left side and the right side of the push plate (6) are both fixedly provided with a slide block (7), the left side and the right side of the front end of the connecting shell (4) are both fixedly provided with convex plates (8), the inside of each convex plate (8) is movably provided with a square clamping rod (9), the front end of each square clamping rod (9) is fixedly connected with a movable block (10), and, and the internally mounted of screw (11) has screw rod (12) to the front end fixedly connected with top cap (13) of screw rod (12), the front end of top cap (13) is fixed and is provided with commentaries on classics board (14), and the outside of commentaries on classics board (14) is fixed and is provided with gum cover (15), and the rear end fixedly connected with friction pad (16) of gum cover (15), the outside of gum cover (15) front end is fixed and is provided with extrusion piece (17), spout (18) have been seted up to the inside of movable block (10).

2. The machine-vision based industrial robot of claim 1, wherein: the convex plates (8) are symmetrically distributed on the left side and the right side of the connecting shell (4), and the structures of the convex plates (8) on the left side and the right side of the connecting shell (4) are completely the same.

3. The machine-vision based industrial robot of claim 1, wherein: the movable block (10) forms a sliding structure with the convex plate (8) through the square clamping rod (9), and the movable block (10) is in threaded connection with the screw rod (12).

4. The machine-vision based industrial robot of claim 1, wherein: the rubber sleeve (15), the friction pad (16) and the extrusion block (17) are all made of rubber, and the cross section of the extrusion block (17) is in a square shape with a hollow interior.

5. The machine-vision based industrial robot of claim 1, wherein: the inner wall of the sliding groove (18) is mutually attached to the outer wall of the sliding block (7), the shape of the sliding block (7) and the shape of the sliding groove (18) are isosceles trapezoids, and the movable block (10) forms a transmission structure with the push plate (6) through the sliding block (7), the sliding groove (18) and the push plate (6).