CN215968759U - Target grabbing system - Google Patents

Abstract

A target grabbing system comprises a computer, a conversion device, a mechanical arm, a hanger mounting rack fixedly connected with the mechanical arm, an optical positioning device installed on the hanger mounting rack and a target arranged on an object, wherein the mechanical arm and the conversion device are electrically connected with the computer, and the optical positioning device is electrically connected with the conversion device; therefore, the image information of the target position collected by the optical positioning device is transmitted to the computer according to a certain frame frequency through the conversion device, the image signal collected by the optical positioning device is analyzed by the computer, and the mechanical arm is controlled by the conversion device to accurately execute the action of grabbing and releasing the object with the target by the lifting appliance mounting frame.

Description

Target grabbing system

Technical Field

The utility model relates to the field of target grabbing, in particular to a target grabbing system.

Background

With the development of the robot technology, an object grabbing technology appears, and the object grabbing is widely applied to the aspects of object sorting, product assembly, additional service and the like.

In the prior art, an image processing apparatus determines the pose of a target object according to height information of a target capture surface of the target object. However, the problem that the target object cannot be accurately grabbed due to low grabbing precision exists.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem of providing a target grabbing system, which solves the problems that the target grabbing precision is not high and the target cannot be grabbed accurately.

In order to solve the technical problem, the utility model adopts the following technical scheme:

a target grabbing system comprises a computer, a conversion device, a mechanical arm, a hanger mounting rack fixedly connected with the mechanical arm, an optical positioning device installed on the hanger mounting rack and a target arranged on an object, wherein the mechanical arm and the conversion device are electrically connected with the computer, and the optical positioning device is electrically connected with the conversion device; the optical positioning device comprises a box body and a camera mechanism arranged in the box body, wherein the camera mechanism comprises a first camera and a second camera which are arranged at the bottom in the box body, and a first infrared light supplement lamp and a second infrared light supplement lamp which are arranged between the first camera and the second camera, and the first camera and the second camera are fixed at the bottom of the box body through fixing components.

In one embodiment, the fixing assembly comprises a vertical fixing plate fixedly connected with the bottom of the box body and a guide rail type fixing plate capable of being in sliding connection with the vertical fixing plate.

In one embodiment, symmetrical first and second inclined pressing blocks and symmetrical third and fourth inclined pressing blocks are arranged at the left and right ends of the vertical fixing plate, wherein the third and fourth inclined pressing blocks are located below the first and second inclined pressing blocks.

In one embodiment, the guide rail type fixing plate has a trapezoidal structure with a left bottom and a right top, so that one surface of the guide rail type fixing plate is a plane, and the other surface of the guide rail type fixing plate is an inclined surface.

In one embodiment, the upper end on guide tracked fixed plate inclined plane is provided with the camera stopper, the both ends of camera stopper be provided with camera anchor clamps on the inclined plane of guide tracked fixed plate.

In one embodiment, a lens holder is disposed below the inclined surface of the rail-type fixing plate.

In one embodiment, a first inclined plane guide block, a second inclined plane guide block, a third inclined plane guide block and a fourth inclined plane guide block which are matched with the first inclined plane pressing block, the second inclined plane pressing block, the third inclined plane pressing block and the fourth inclined plane pressing block are arranged at two ends of the guide rail type fixing plate.

In one embodiment, the target comprises a circular sheet, a circular ring, a bolt and a circular block, wherein the bolt sequentially penetrates through the circular sheet and the circular ring and is fixedly connected with the circular sheet and the circular ring; the circular block surface is seted up circular recess, set up on the circular recess run through the circular block and with the through-hole of circular circle adaptation, wherein, circular piece with bolt surface spraying has reflection of light powder.

Compared with the prior art, the utility model has the following beneficial effects:

the target grabbing equipment comprises a computer, a conversion device, a mechanical arm, a hanger mounting frame fixedly connected with the mechanical arm, an optical positioning device arranged on the hanger mounting frame and a target arranged on an object, wherein the mechanical arm and the conversion device are electrically connected with the computer, the optical positioning device is electrically connected with the conversion device, so that the position image information of the target is collected through the optical positioning device and is transmitted to the computer through the conversion device according to a certain frame frequency, the computer analyzes the image signal collected by the optical positioning device, and the conversion device controls the mechanical arm to accurately execute the action so that the hanger mounting frame can grab and release the object with the target.

Drawings

Fig. 1 is a schematic structural diagram of a hanger mounting bracket and an optical positioning device of the utility model.

Fig. 2 is a schematic view of the structure of the target of the present invention on an object.

FIG. 3 is a schematic diagram of the computer according to the present invention.

Fig. 4 is a schematic structural diagram of the conversion device of the present invention.

FIG. 5 is an exploded view of the optical pointing device of the present invention.

FIG. 6 is a schematic structural view of the fixing device of the present invention.

FIG. 7 is a schematic top view of the fixing device of the present invention.

Fig. 8 is a schematic bottom view of the guide rail type fixing plate according to the present invention.

Fig. 9 is a schematic side view of the guide rail type fixing plate according to the present invention.

Fig. 10 is a schematic view of a lens holder according to the present invention.

FIG. 11 is a schematic view of a camera fixture according to the present invention.

Fig. 12 is a schematic top view of the target of the present invention.

Fig. 13 is a schematic view of the structure of the circular block of the present invention.

FIG. 14 is a schematic structural diagram of a target of the present invention.

In the figure: 20. a vertical fixing plate, 21, a first inclined plane pressing block, 22, a second inclined plane pressing block, 23, a third inclined plane pressing block, 24, a fourth inclined plane pressing block, 25, a first limiting block, 30, a guide rail type fixing plate, 31, a first inclined plane guiding block, 32, a second inclined plane guiding block, 33, a third inclined plane guiding block, 34, a fourth inclined plane guiding block, 35, a camera limiting block, 36, a camera clamp, 37, a lens clamp, 38, a third limiting block, 39, a lens placing frame, 100, a box body, 111, a first camera, 112, a second camera, 113, a first infrared light-supplementing lamp, 114, a second infrared light-supplementing lamp, 121, a first through hole, 122, a second through hole, 123, a third through hole, 124, a fourth through hole, 125, a first conductive sealing strip, 126, a lens maintenance cover, 127, a second conductive sealing strip, 128, a circular bracket, 131, an observation through hole, 132, a drying box, 133. dry particles, 134, a third conductive sealing ring, 135, a fixed pressing plate, 200, a computer, 300, a conversion device, 400, a hanger mounting frame, 500, a target, 510, a circular sheet, 520, a circular ring, 530, a bolt, 531, a nut column, 540, a circular block, 541, a circular groove, 542, a through hole, 543 and a gap.

Detailed Description

In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments. In the following description, characteristic details such as specific configurations and components are provided only to help the embodiments of the present invention be fully understood. Thus, it will be apparent to those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the utility model. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness.

It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

In various embodiments of the present invention, it should be understood that the sequence numbers of the following processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

It should be understood that the term "and/or" herein is merely one type of association relationship that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

In the embodiments provided herein, it should be understood that "B corresponding to a" means that B is associated with a from which B can be determined. It should also be understood that determining B from a does not mean determining B from a alone, but may be determined from a and/or other information.

The utility model provides an object grabbing system.

As shown in fig. 1 to 4, an object grabbing system comprises a computer 200, a conversion device 300, a robot arm, a spreader mounting frame 400 fixedly connected with the robot arm, an optical positioning device mounted on the spreader mounting frame, and a target 500 disposed on an object, wherein the target 500 is an object for positioning the object; the optical positioning device is used for collecting the image information of the position of the target 500 and transmitting the image information to the computer 200 through the conversion device 300 according to a certain frame frequency; the conversion device 300 is used for supplying power to the computer 200, the mechanical arm and the optical positioning device, forwarding gigabit Ethernet data, forwarding roll power, forwarding CAN bus data and the like; the computer is used for analyzing image signals collected by the optical positioning device, communicating through a network and a CAN bus, and controlling the mechanical arm to accurately execute related grabbing and releasing actions.

Further, the mechanical arm and the conversion device are electrically connected with the computer, and the optical positioning device is electrically connected with the conversion device; therefore, the image information of the position of the target 500 acquired by the optical positioning device is transmitted to the computer 200 through the conversion device 300 according to a certain frame frequency, the computer analyzes the image signal acquired by the optical positioning device, and the mechanical arm is controlled by the conversion device 300 to accurately execute the action so that the hanger mounting frame can grab and release the object with the target.

Further shown in fig. 5 to 11, the optical positioning device includes a box 100, and a camera mechanism disposed in the box 100, where the camera mechanism includes a first camera 111 and a second camera 112 disposed at the bottom of the box 100, and a first infrared fill-in light 113 and a second infrared fill-in light 114 disposed between the first camera 111 and the second camera 112.

Further, a first through hole 121, a fourth through hole 124, a second through hole 122, and a third through hole 123 corresponding to the first camera 111, the second camera 112, the first infrared light supplement lamp 113, and the second infrared light supplement lamp 114 are formed at the bottom of the case 100.

Further, a first conductive sealing strip 125 and a lens maintenance cover 126 are disposed on each of the first through hole 121 and the second through hole 124, so that the lens maintenance cover 126 can seal the first through hole 121 and the fourth through hole 124 through the first conductive sealing strip 125, and further prevent the first camera 111 and the second camera 112 from being damaged.

Further, a second conductive sealing strip 127 and a circular bracket 128 are arranged on each of the second through hole 122 and the third through hole 123; thereby through the setting of circular support 128 for first infrared light filling lamp 113 and the infrared light filling lamp 114 of second can be fixed through circular support 128 in the box 100, simultaneously, circular support 128 can be with the better fixing of first infrared light filling lamp 113 and the infrared light filling lamp 114 of second in box 100 and make first infrared light filling lamp 113 and the infrared light filling lamp 114 of second be located second through-hole 122 and third through-hole 123 respectively through the electrically conductive sealing strip 127 of second.

Further, a drying mechanism is further disposed in the box 100, the drying mechanism includes an observation through hole 131 formed in the bottom of the box 100, a drying component for monitoring a drying state inside the box 100 is disposed in the observation through hole 131, and specifically, in this embodiment, the observation through hole 131 is a circular observation through hole.

Further, the drying assembly includes a drying box 132, drying particles 133 disposed in the drying box 132, a third conductive sealing ring 134 disposed on the drying box 132, and a fixed pressing plate 135 capable of pressing the third conductive sealing ring 134; wherein, dry box 132 is the dry box of tubbiness, just the bleeder vent that the array was arranged is seted up to the bottom of dry box 132, and in this embodiment, the diameter of bleeder vent is 2 mm.

Further, the dry particles 133 are blue silica gel dry particles, and the dry particles 133 absorb certain moisture or steam to turn into pink, so that the dry and wet condition of the internal environment of the box 100 can be determined by the color of the dry particles 133.

Further, a conductive sealing ring 134 and a fixed pressure plate 135 are used to seal the drying box 21, and specifically, the fixed pressure plate 135 is composed of a fixed ring and transparent tempered glass; so that the color of the drying particles 133 inside the drying box 132 can be observed through the transparent tempered glass.

Further, the window pressing plate 25 is fixed to the observing through hole 20 by a fastening screw, and the drying box 132 is fixed in the observing through hole 20, that is, the drying device is fixedly disposed in the cabinet 100.

Further, the drying box 21 is machined from metal.

As further shown in the figure, the first camera 111 and the second camera 112 are fixed at the bottom of the box 100 by a fixing assembly, specifically, the fixing assembly includes a vertical fixing plate 20 and a rail-type fixing plate 30, the vertical fixing plate 20 is fixedly arranged at the bottom of the box 100, and the rail-type fixing plate 30 is slidably connected to the vertical fixing plate 20; specifically, symmetrical first and second inclined plane pressing blocks 21 and 22 and symmetrical third and fourth inclined plane pressing blocks 23 and 24 are arranged at the left and right ends of the vertical fixing plate 20, wherein the third and fourth inclined plane pressing blocks 23 and 24 are located below the first and second inclined plane pressing blocks 21 and 22; preferably, the second and fourth ramp compact blocks 22 and 24 are movable compact blocks.

Further, a first inclined plane guide block 31, a second inclined plane guide block 32, a third inclined plane guide block 33 and a fourth inclined plane guide block 34 which are matched with the first inclined plane pressing block 21, the second inclined plane pressing block 22, the third inclined plane pressing block 23 and the fourth inclined plane pressing block 24 are arranged at two ends of the guide rail type fixing plate 30, so that the guide rail type fixing plate 30 can be slidably connected with the vertical fixing plate 20.

Further, third inclined plane compact heap 23 with the below of fourth inclined plane compact heap 24 be provided with the restriction on the vertical fixing plate 20 the guide tracked fixed plate 30 is in gliding first stopper 25 of vertical fixing plate 20 and second stopper (showing in the figure), specifically, first stopper 25 and second stopper are in on the same water flat line, first stopper 25 and second stopper setting are in third inclined plane compact heap 23 with below between the second inclined plane compact heap 24, and then through first stopper 25 and second stopper setting, can prevent that guide tracked fixed plate 30 from sliding vertical fixing plate 20.

As further shown in the figure, the guide rail type fixing plate 30 is in a trapezoidal structure with a left bottom and a right top, so that one surface of the guide rail type fixing plate 30 is a plane and the other surface is an inclined surface; specifically, the inclined included angle of inclined plane is 44 °, and then fixes on the inclined plane on guide tracked fixed plate 30 through infrared imaging camera for infrared imaging camera's the scope of shooing is bigger.

Further, the upper end on guide tracked fixed plate 30 inclined plane is provided with camera stopper 35, the both ends of camera stopper 35 be provided with on the inclined plane of guide tracked fixed plate 30 and fix the camera anchor clamps 36 on the guide tracked fixed plate 30, specifically, camera anchor clamps 36 pass through fastening screw to fix on guide tracked fixed plate 30 camera through camera anchor clamps 36 to can fix camera on guide tracked fixed plate 30, simultaneously through camera stopper 35's setting, make camera between anchor clamps and camera stopper 35, and then restrict the left and right displacement of camera.

Further, the camera fixture 36 is a concave fixture, and the outer surface of an included angle between a transverse plane and a vertical plane of the concave fixture is a chamfered plane; thereby when camera anchor clamps 36 fixed camera, can further fix the camera on guide tracked fixed plate 30 through camera anchor clamps 36's horizontal face and vertical face contained angle, specifically speaking, the packing force that receives left and right sides when camera anchor clamps 36 can make camera anchor clamps 36's horizontal face and vertical face contained angle warp, and then eliminates the clearance between camera anchor clamps 36 and the camera to guarantee ideal state's rigid connection, there is not the displacement under strong vibration environment, guaranteed the high-accuracy high stable connection of camera.

Further, a lens clamp 37 for fixing a camera lens on the rail-type fixing plate 30 is arranged below the inclined surface of the rail-type fixing plate 30; specifically, a lens holder 39 that cooperates with the lens holder 37 to fix the lens is disposed below the inclined surface of the rail-type fixing plate 30, and more specifically, the lens holder 39 is in an arch shape; the lens clamp 37 is an arc clamp, and the outer surface of an included angle between the transverse surface and the vertical surface of the arc clamp is a chamfer surface; therefore, when the lens fixing frame 39 and the lens clamp 37 are matched to fix the lens on the guide rail type fixing plate 30, the transverse surface and the vertical surface of the lens clamp 37 are deformed by pressing forces of the left side and the right side of the lens clamp 37, and then a gap between the lens clamp 37 and the lens is eliminated, so that rigid connection in an ideal state is guaranteed, no displacement exists in a strong vibration environment, and high precision and high stability of the lens are guaranteed.

Further, a third limiting block 38 and a fourth limiting block are arranged on the inclined surface of the guide rail type fixing plate 30, the third limiting block 38 and the fourth limiting block are positioned on the same horizontal line in parallel, and the third limiting block 38 and the fourth limiting block are positioned below the lens clamp 37; so that the lens holder 37 can be restricted from moving downward by the third stopper 38 and the fourth stopper.

As further shown in fig. 12-14, the target 500 includes a circular plate 510, a circular ring 520, a bolt 530, and a circular block 540, wherein the bolt 530 sequentially penetrates through the circular plate 510 and the circular ring 520 and is fixedly connected to the circular plate 510 and the circular ring 520, and preferably, the circular plate 510, the circular ring 520, and the bolt 530 are integrally formed.

Further, reflective powder is sprayed on the surfaces of the round piece 510 and the bolt 530, and the reflective powder is produced by glass bead powder materials. Thus, when the circular plate 510 and the bolt 530 are positioned, the circular plate 510 and the bolt 530 reflect 85% of the infrared light directly back to the light source.

Further, a circular groove 541 is formed in the surface of the circular block 540, a through hole 542 penetrating through the circular block 540 and adapted to the circular ring 520 is formed in the circular groove 541, wherein the diameter of the circular groove 541 is greater than that of the circular sheet 510; the diameter of the circular sheet 510 is larger than that of the through hole 542; when an object is a target object, the circular block 540 is fixed on the target object, then the bolt 530 which sequentially penetrates through the circular sheet 510 and the circular ring 520 and is fixed with the circular sheet 510 and the circular ring 520 penetrates through the through hole 542 of the circular block 540 and is fixed on the circular block 540, so that the circular ring 520 on the bolt 530 is positioned in the through hole 542, the circular sheet 510 is positioned on the circular groove 541, a gap 543 exists between the circular sheet 510 and the circular groove 541, further, when the outdoor environment is used, dust and other impurities can be remained on the surfaces of the circular sheet 510, the bolt 530 and the circular block 540, an operator only needs to wipe off the dust and other impurities on the circular sheet 510, the bolt 530 and the circular block 540, the dust and other impurities in the gap 543 do not need to be cleaned, the cleaned circular sheet 510, the bolt 530 and the circular block 540 have certain color difference with the gap in which the dust is hidden, so that the circular sheet 510 and the bolt 530 are clearer, is easier to identify in the location.

Further, the upper surface of the bolt 530 is formed with a straight line shape.

Further, the bolt 530 includes a nut post 531 matched with the bolt 530, so that after the target object is determined, a hole is punched on the target object, then the nut post 531 is driven into the hole on the target object, and then the circular block 540 is fixed on the nut post 531, so that the bolt 530 can be screwed into the nut post 531 to play a target role on the target object.

Further, the circular plate 510, the circular ring 520, the bolt 530, the nut stud 531 and the circular block 540 are all formed by metal processing.

Further, the surface of the circular block 540 is black.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the technical solutions of the present invention have been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that the technical solutions described in the foregoing embodiments can be modified or some technical features can be replaced equally; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (8)

1. An object grasping system, characterized by: the system comprises a computer (200), a conversion device (300), a mechanical arm, a hanger mounting rack (400) fixedly connected with the mechanical arm, an optical positioning device arranged on the hanger mounting rack and a target (500) arranged on an object, wherein the mechanical arm and the conversion device (300) are electrically connected with the computer (200), and the optical positioning device is electrically connected with the conversion device (300); the optical positioning device comprises a box body (100) and a camera mechanism arranged in the box body (100), wherein the camera mechanism comprises a first camera (111) and a second camera (112) which are arranged at the bottom in the box body (100) and a first infrared light supplement lamp (113) and a second infrared light supplement lamp (114) which are arranged between the first camera (111) and the second camera (112), and the first camera (111) and the second camera (112) are fixed at the bottom of the box body (100) through fixing components.

2. An object grasping system according to claim 1, characterized in that: the fixing assembly comprises a vertical fixing plate (20) fixedly connected with the bottom of the box body (100) and a guide rail type fixing plate (30) capable of being in sliding connection with the vertical fixing plate (20).

3. An object grasping system according to claim 2, characterized in that: the left end and the right end of the vertical fixing plate (20) are provided with a first inclined plane pressing block (21), a second inclined plane pressing block (22), a third inclined plane pressing block (23), a fourth inclined plane pressing block (24) which are symmetrical, wherein the third inclined plane pressing block (23) and the fourth inclined plane pressing block (24) are located below the first inclined plane pressing block (21) and the second inclined plane pressing block (22).

4. An object grasping system according to claim 3, characterized in that: the guide rail type fixing plate (30) is of a trapezoidal structure with a left bottom and a right top, so that one surface of the guide rail type fixing plate (30) is a plane, and the other surface of the guide rail type fixing plate is an inclined surface.

5. An object grasping system according to claim 4, wherein: the camera limiting block (35) is arranged at the upper end of the inclined surface of the guide rail type fixing plate (30), and camera clamps (36) are arranged at the two ends of the camera limiting block (35) and on the inclined surface of the guide rail type fixing plate (30).

6. An object grasping system according to claim 5, wherein: and a lens clamp (37) is arranged below the inclined plane of the guide rail type fixing plate (30).

7. An object grasping system according to claim 6, wherein: and a first inclined plane guide block (31), a second inclined plane guide block (32), a third inclined plane guide block (33) and a fourth inclined plane guide block (34) which are matched with the first inclined plane pressing block (21), the second inclined plane pressing block (22), the third inclined plane pressing block (23) and the fourth inclined plane pressing block (24) are arranged at the two ends of the guide rail type fixing plate (30).

8. An object grasping system according to claim 1, characterized in that: the target (500) comprises a circular sheet (510), a circular ring (520), a bolt (530) and a circular block (540), wherein the bolt (530) sequentially penetrates through the circular sheet (510) and the circular ring (520) and is fixedly connected with the circular sheet (510) and the circular ring (520); the surface of the round block (540) is provided with a round groove (541), the round groove (541) is provided with a through hole (542) which penetrates through the round block (540) and is matched with the round ring (520), and the surfaces of the round sheet (510) and the bolt (530) are sprayed with reflective powder.

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