CN215282022U - Automatic grabbing robot based on visual identification - Google Patents
Automatic grabbing robot based on visual identification Download PDFInfo
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- CN215282022U CN215282022U CN202121091729.6U CN202121091729U CN215282022U CN 215282022 U CN215282022 U CN 215282022U CN 202121091729 U CN202121091729 U CN 202121091729U CN 215282022 U CN215282022 U CN 215282022U
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- driving assembly
- sliding block
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- robot based
- visual identification
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Abstract
The utility model discloses an automatic snatch robot based on visual identification relates to the material and snatchs the robotechnology field. The utility model discloses an operation panel, conveyer, tongs subassembly have been installed to the operation panel upper end, and the support has been installed to operation panel one side, has installed actuating mechanism between support and the tongs subassembly. The utility model discloses a be close to operation panel one side at the support and installed multi-line laser radar, be convenient for discern the size of object, shape and position, the degree of accuracy when improving article and being snatched, drive tongs subassembly gliding through actuating mechanism, adjust the inclined plane of tongs upside and the contained angle between the conveyer upper surface, be convenient for improve the probability that the object was snatched, it drives the arch to open first drive assembly, tongs horizontal slip, the object is shoveled in the tongs horizontal slip of a plurality of circumference arrays, be convenient for further improve the probability that the object was snatched, and reduce the landing probability after the object was snatched.
Description
Technical Field
The utility model belongs to the technical field of the material snatchs the robot, especially relate to an automatic robot that snatchs based on visual identification.
Background
The robot is a device which can assist or even replace human beings to complete dangerous, heavy and complex work, improve work efficiency and quality, serve human life, and expand or extend the range of human activities and abilities.
However, the existing automatic grabbing robot is poor in accuracy when grabbing articles, easily overturns target objects, and easily drops after grabbing the target objects insecure.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an automatic robot that snatchs based on visual identification has solved the relatively poor technical problem of degree of accuracy when current automatic robot that snatchs article.
In order to achieve the purpose, the utility model is realized by the following technical proposal:
an automatic grabbing robot based on visual identification comprises an operation platform, wherein a conveyor and a grabbing component are arranged at the upper end of the operation platform, a support is arranged on one side of the operation platform, and a driving mechanism is arranged between the support and the grabbing component;
the gripper assembly comprises a circular plate arranged at the bottom end of the driving mechanism, a plurality of first channels circumferentially arrayed on the circular plate, and sliding blocks in the first channels in a sliding fit mode, a first through hole is formed in the upper end of each sliding block, the gripper is rotationally matched in the first through hole, protrusions corresponding to the grippers are arranged on the lower portion of the first through hole, and a first driving assembly is arranged between the driving mechanism and the sliding blocks.
Optionally, the first driving assembly comprises a first motor arranged at the upper end of the circular plate, a first notch arranged at the upper end of the circular plate, a first bevel gear arranged at the output end of the first motor, a threaded rod in the protrusion in threaded fit, and a second bevel gear arranged at one end of the threaded rod and meshed with the first bevel gear, and the first motor is fixed at the bottom end of the driving mechanism.
Optionally, the horizontal driving assembly of the driving mechanism and the vertical driving assembly comprise two guide strips, the two guide strips are perpendicular to each other in length direction, a T-shaped channel is formed in each guide strip, a T-shaped sliding block is arranged in each T-shaped channel in a sliding fit mode, the guide strip at the lower end of the horizontal driving assembly is fixed at the bottom end of the T-shaped sliding block at the upper end of the horizontal driving assembly, and the first motor is fixed at the bottom end of the T-shaped sliding block at the lower end of the horizontal driving assembly.
Optionally, a second motor is installed at one end of the guide strip, a threaded rod is installed at the output end of the second motor, and one end of the threaded rod extending into the T-shaped channel is in threaded fit with the T-shaped sliding block.
Optionally, the vertical driving assembly comprises an electric push rod arranged on the support, and a guide strip positioned at the upper end of the horizontal driving assembly is fixedly arranged at the output end of the electric push rod.
Optionally, the vertical cross section of the hand grip is of a triangular structure, one side of the triangle is an arc line, and the vertical cross sections of the first channel and the sliding block are both in a cross shape.
The embodiment of the utility model has the following beneficial effect:
the utility model discloses an embodiment is through being close to operation panel one side at the support and having installed multi-line laser radar, be convenient for discern the size of object, shape and position, the degree of accuracy when improving article and being snatched, slide through actuating mechanism drive tongs subassembly, adjust the contained angle between the inclined plane of tongs upside and the conveyer upper surface, be convenient for improve the probability that the object was snatched, it drives the arch to open first drive assembly, tongs horizontal slip, the object is shoveled to the tongs horizontal slip of a plurality of circumference arrays, be convenient for further improve the probability that the object was snatched, and reduce the landing probability after the object was snatched.
Of course, it is not necessary for any particular product to achieve all of the above-described advantages at the same time.
Drawings
The accompanying drawings, which form a part of the present application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic perspective view of an embodiment of the present invention;
fig. 2 is a cross-sectional view of an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a in fig. 2.
Wherein the figures include the following reference numerals:
the device comprises an operating table 1, a conveyor 2, a support 3, a circular plate 4, a first channel 5, a sliding block 6, a first through hole 7, a gripper 8, a protrusion 9, a first motor 10, a first notch 11, a first bevel gear 12, a threaded rod 13, a second bevel gear 14, a guide strip 15, a T-shaped channel 16, a T-shaped sliding block 17, a second motor 18, a threaded rod 19, an electric push rod 20 and a multi-line laser radar 21.
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. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.
To maintain the following description of the embodiments of the present invention clear and concise, detailed descriptions of well-known functions and components may be omitted.
Referring to fig. 1 to 3, in the present embodiment, an automatic grabbing robot based on visual recognition is provided, including: the device comprises an operating platform 1, wherein the upper end of the operating platform 1 is provided with a conveyor 2 and a gripper assembly, one side of the operating platform 1 is provided with a bracket 3, and a driving mechanism is arranged between the bracket 3 and the gripper assembly;
the gripper assembly comprises a circular plate 4 arranged at the bottom end of the driving mechanism, a plurality of first channels 5 arrayed on the circular plate 4 in the circumferential direction, and a sliding block 6 in the first channels 5 in a sliding fit mode, wherein a first through hole 7 is formed in the upper end of the sliding block 6, a gripper 8 is rotationally matched in the first through hole 7, a protrusion 9 corresponding to the gripper 8 is arranged on the lower portion of the first through hole 7, and a first driving assembly is arranged between the driving mechanism and the plurality of sliding blocks 6.
The support 3 is close to one side of the operating platform 1 and is provided with a multi-line laser radar 21 and a processor, and the processor is connected with the multi-line laser radar 21, the first motor 10, the second motor 18 and the electric push rod 20.
The application of one aspect of the embodiment is as follows: when the conveyor 2 conveys an object to the lower side of the gripper assembly, the size, the shape and the position of the object are identified by the multi-line laser radar 21 and transmitted to the processor, the size, the shape and the position information of the object are conveniently provided for accurately adjusting the gripper assembly, the gripping probability of the object is improved, the processor opens the driving mechanism to drive the gripper assembly to be right above the object, then the gripper assembly is driven to slide downwards, the included angle between the inclined plane on the upper side of the gripper 8 and the upper surface of the conveyor 2 is adjusted, then the first driving assembly is opened to drive the protrusion 9 and the gripper 8 to horizontally slide, the grippers 8 horizontally slide in a plurality of circumferential arrays to scoop the object, and then the object is moved to a required place through the driving mechanism. It should be noted that all the electric devices referred to in this application may be powered by a storage battery or an external power source.
Through being close to 1 one side of operation panel at support 3 and having installed multi-thread laser radar 21, be convenient for discern the size of object, shape and position, the degree of accuracy when improving article and being snatched, drive tongs subassembly gliding through actuating mechanism, adjust the contained angle between the inclined plane of 8 upsides of tongs and the conveyer 2 upper surface, be convenient for improve the probability that the object was snatched, open first drive assembly and drive arch 9, 8 horizontal sliding of tongs, 8 horizontal sliding of a plurality of circumference array's tongs scoop up the object, be convenient for further improve the probability that the object was snatched, and reduce the landing probability after the object was snatched.
The first drive assembly of this embodiment is including installing first motor 10 in circular plate 4 upper end, set up first notch 11 in circular plate 4 upper end, install first bevel gear 12 at first motor 10 output, screw-thread fit is at protruding threaded rod 13 in 9, install the second bevel gear 14 in threaded rod 13 one end and the meshing of first bevel gear 12, and first motor 10 is fixed in the actuating mechanism bottom, be convenient for drive first bevel gear 12 through first motor 10, a plurality of second bevel gear 14, a plurality of threaded rod 13 rotate, and then drive a plurality of sliders 6, tongs 8 slides simultaneously, and then improve the probability that the object was grabbed.
The horizontal driving assembly and the vertical driving assembly of the driving mechanism of the embodiment comprise two guide strips 15, the length directions of the two guide strips 15 are mutually vertical, the guide strips 15 are provided with T-shaped channels 16, T-shaped sliding blocks 17 are matched in the T-shaped channels 16 in a sliding manner, the guide strips 15 at the lower end of the horizontal driving assembly are fixed at the bottom ends of the T-shaped sliding blocks 17 at the upper end of the horizontal driving assembly, and the first motor 10 is fixed at the bottom ends of the T-shaped sliding blocks 17 at the lower end of the horizontal driving assembly; a second motor 18 is arranged at one end of the guide strip 15, a threaded rod 19 is arranged at the output end of the second motor 18, the threaded rod 19 extends into one end of the T-shaped channel 16 to be in threaded fit with the T-shaped sliding block 17, and the second motor 18 drives the threaded rod 19 to rotate to drive the T-shaped sliding block 17 to slide so as to drive the gripper assembly to horizontally move.
The vertical driving assembly of this embodiment is including installing electric putter 20 on support 3, and is located the fixed output of installing at electric putter 20 of gib block 15 that is located horizontal driving assembly upper end, is convenient for drive the vertical slip of tongs subassembly.
The 8 perpendicular cross-sections of tongs of this embodiment are triangle-shaped structure, and one side of triangle-shaped is the pitch arc, and first channel 5, the 6 perpendicular cross-sections of slider are the cross, are convenient for improve the gliding stability of slider 6.
The above embodiments may be combined with each other.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein.
In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the orientation words such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplification of description, and in the case of not making a contrary explanation, these orientation words do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be interpreted as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
Claims (6)
1. An automatic grabbing robot based on visual recognition is characterized by comprising: the device comprises an operating platform (1), wherein the upper end of the operating platform (1) is provided with a conveyor (2) and a gripper assembly, one side of the operating platform (1) is provided with a bracket (3), and a driving mechanism is arranged between the bracket (3) and the gripper assembly;
the gripper assembly comprises a circular plate (4) arranged at the bottom end of the driving mechanism, a plurality of first channels (5) arranged on the circular plate (4) in a circumferential array mode, and a sliding block (6) in the first channels (5) in a sliding fit mode, a first through hole (7) is formed in the upper end of the sliding block (6), a gripper (8) is arranged in the first through hole (7) in a rotating fit mode, a protrusion (9) corresponding to the gripper (8) is arranged on the lower portion of the first through hole (7), and a first driving assembly is arranged between the driving mechanism and the plurality of sliding blocks (6).
2. The automatic grabbing robot based on visual identification as claimed in claim 1, wherein the first driving assembly comprises a first motor (10) installed on the upper end of the circular plate (4), a first notch (11) opened on the upper end of the circular plate (4), a first bevel gear (12) installed at the output end of the first motor (10), a threaded rod (13) screwed in the protrusion (9), and a second bevel gear (14) installed at one end of the threaded rod (13) and engaged with the first bevel gear (12), and the first motor (10) is fixed at the bottom end of the driving mechanism.
3. The automatic grabbing robot based on visual identification as claimed in claim 2, wherein the driving mechanism comprises a horizontal driving assembly and a vertical driving assembly, the horizontal driving assembly comprises two guide strips (15), the length directions of the two guide strips (15) are perpendicular to each other, a T-shaped channel (16) is formed in each guide strip (15), a T-shaped sliding block (17) is in sliding fit in each T-shaped channel (16), the guide strip (15) at the lower end of the horizontal driving assembly is fixed at the bottom end of the T-shaped sliding block (17) at the upper end of the horizontal driving assembly, and the first motor (10) is fixed at the bottom end of the T-shaped sliding block (17) at the lower end of the horizontal driving assembly.
4. The automatic grabbing robot based on visual identification as claimed in claim 3, wherein one end of the guiding bar (15) is equipped with a second motor (18), the output end of the second motor (18) is equipped with a threaded rod (19), and one end of the threaded rod (19) extending into the T-shaped channel (16) is in threaded fit with the T-shaped sliding block (17).
5. The automatic grabbing robot based on visual identification as claimed in claim 3, wherein the vertical driving assembly comprises an electric push rod (20) mounted on the support (3), and the guide bar (15) located at the upper end of the horizontal driving assembly is fixedly mounted at the output end of the electric push rod (20).
6. The automatic grabbing robot based on visual identification as claimed in claim 1, wherein the vertical section of the grabbing hand (8) is a triangle structure, one side of the triangle is an arc line, and the vertical sections of the first channel (5) and the sliding block (6) are all cross-shaped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121091729.6U CN215282022U (en) | 2021-05-21 | 2021-05-21 | Automatic grabbing robot based on visual identification |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121091729.6U CN215282022U (en) | 2021-05-21 | 2021-05-21 | Automatic grabbing robot based on visual identification |
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| Publication Number | Publication Date |
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| CN215282022U true CN215282022U (en) | 2021-12-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202121091729.6U Active CN215282022U (en) | 2021-05-21 | 2021-05-21 | Automatic grabbing robot based on visual identification |
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| CN (1) | CN215282022U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116177209B (en) * | 2023-04-28 | 2023-08-15 | 常州美信机械科技股份有限公司 | Basket feeding and transporting integrated system for coating production line |
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2021
- 2021-05-21 CN CN202121091729.6U patent/CN215282022U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116177209B (en) * | 2023-04-28 | 2023-08-15 | 常州美信机械科技股份有限公司 | Basket feeding and transporting integrated system for coating production line |
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