CN216262032U - Sorting robot based on vision - Google Patents
Sorting robot based on vision Download PDFInfo
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- CN216262032U CN216262032U CN202122476728.XU CN202122476728U CN216262032U CN 216262032 U CN216262032 U CN 216262032U CN 202122476728 U CN202122476728 U CN 202122476728U CN 216262032 U CN216262032 U CN 216262032U
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- gear
- label
- vision
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- conveying belt
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- 238000001514 detection method Methods 0.000 claims abstract description 15
- 238000000034 method Methods 0.000 abstract description 6
- 238000010408 sweeping Methods 0.000 abstract description 2
- 238000009434 installation Methods 0.000 description 10
- 230000000694 effects Effects 0.000 description 5
- 239000000758 substrate Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
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Abstract
The utility model discloses a vision-based sorting robot which comprises a conveying belt, an arranging mechanism and a label detecting mechanism, wherein the arranging mechanism is positioned at the right end of the conveying belt, the label detecting mechanism is arranged in the middle of the conveying belt, a base plate placed on the ground is arranged in the label detecting mechanism, the top of the base plate is rotatably connected with a mounting frame through a bearing and a connecting rod, and the inner wall of the mounting frame is connected with a toothed ring in a sliding mode. This structure passes through label detection mechanism can be effectual increase letter sorting in-process scan bar code's exactness, among the contrast prior art, the goods is when the manual work is placed on conveyer, the goods generally can't normally be placed with the mode of justifying, and what the yard of sweeping of current machine all is the plane sweeps the yard, the operation degree of difficulty of workman has been increased, and no matter what kind of angle the workman places in this device, the yard is swept to the goods that all can be accurate quick, the operation degree of difficulty of workman has been simplified, holistic letter sorting efficiency has been improved.
Description
Technical Field
The utility model relates to the field of sorting robots, in particular to a sorting robot based on vision.
Background
Sorting is the operation of stacking the articles in different categories according to the sequence of the categories and the sequence of entering and leaving the warehouse. Sorting is the preparatory work for perfecting and supporting delivery, and is the inevitable extension of different distribution enterprises for competing and improving the economic benefits of the distribution enterprises. So it can also be said that sorting is a necessary requirement for the development of delivery to advanced forms.
Sorting robot is mostly the plane and shoots among the prior art, and the goods is the spatial structure for the majority, and this position that just needs the workman to accurately find the goods bar code keeps the bar code up, just can be scanned by the machine accuracy, has just so increased the degree of difficulty when the workman puts the goods, has reduced holistic letter sorting efficiency.
To this end, we propose a vision-based sorting robot to solve the above-mentioned problems.
SUMMERY OF THE UTILITY MODEL
The present invention is directed to a vision-based sorting robot to solve the problems set forth in the background art.
In order to achieve the purpose, the utility model provides the following technical scheme:
a sorting robot based on vision comprises a conveying belt, a sorting mechanism and a label detection mechanism, wherein the sorting mechanism is positioned at the right end of the conveying belt, the label detection mechanism is arranged in the middle of the conveying belt, a base plate placed on the ground is arranged in the label detection mechanism, the top of the base plate is rotatably connected with an installation frame through a bearing and a connecting rod, the inner wall of the installation frame is slidably connected with a toothed ring, one side of the outer wall of the toothed ring is meshed and connected with a first gear positioned in the installation frame, the end of the first gear is provided with a motor, the inner side of the first gear is provided with a second label camera, the top of the installation frame is fixedly connected with a second gear through the connecting rod, a supporting substrate which is movably connected with the bottom surface of the second gear is arranged above the installation frame, and the top of the supporting substrate is rotatably connected with single-side gears positioned at two sides of the second gear through the bearing, and motors are arranged at the shaft ends of the two unilateral gears.
In a further embodiment, a one-way push rod is arranged right below the left end of the conveying belt, a top pressing plate movably connected with the conveying belt is fixedly connected with the telescopic end of the one-way push rod, first label cameras symmetrically distributed about the center of the top pressing plate are installed on two sides of the left end of the conveying belt, and the effect is as follows: this structure has effectively solved the workman and at the in-process of placing the goods, probably presses the label page or leaf of goods in conveyer belt one side, leads to the unable normal problem of scanning the label of machine to sorting efficiency has been improved.
In a further embodiment, the inside chassis that links to each other with ground through the bracing piece that is included of arrangement mechanism, side baffle is installed to the chassis top surface left and right sides, the letter sorting carousel is installed at the chassis top, letter sorting carousel middle part nestification has two-way push rod, and the effect is: the arrangement mechanism can place the goods in sequence on the conveyer belt, so that the situation that the goods are excessively piled up can be avoided, and scanning and shooting are difficult.
In a further embodiment, two unilateral gears are distributed in parallel, the inner ring of the mounting frame is movably connected with the gear ring and the second label camera through the slot, and the effect is as follows: the label detection mechanism drives the second label camera to move at each angle to the utmost extent, so that labels on goods can be scanned more fully, and the probability of scanning errors is reduced.
In a further embodiment, the middle part of the conveyer belt is of a semicircular annular structure, the conveyer belt penetrates through the center of the installation frame, and the effects are that: the conveyer belt passes through the semicircle loop structure and drives goods turned angle at the in-process of carrying to improve the probability of the show of label.
In a further embodiment, conveyer belt left end one side is provided with the letter sorting manipulator that is located the roof pressure board the place ahead, and the effect is: sorting manipulator can carry out final letter sorting to the goods, can classify the goods fast.
Compared with the prior art, the utility model has the beneficial effects that:
this structure passes through label detection mechanism can be effectual increase letter sorting in-process scan bar code's exactness, among the contrast prior art, the goods is when the manual work is placed on conveyer, the goods generally can't normally be placed with the mode of justifying, and what the yard of sweeping of current machine all is the plane sweeps the yard, the operation degree of difficulty of workman has been increased, and no matter what kind of angle the workman places in this device, the yard is swept to the goods that all can be accurate quick, the operation degree of difficulty of workman has been simplified, holistic letter sorting efficiency has been improved.
Drawings
Fig. 1 is a schematic front view of a vision-based sorting robot.
Fig. 2 is a schematic structural diagram of a top view of a vision-based sorting robot.
Fig. 3 is a partially enlarged structural diagram of a sorting robot based on vision, which is shown in fig. 2 at a.
Fig. 4 is a partially enlarged structural view of a vision-based sorting robot at B in fig. 2.
Fig. 5 is a partial sectional structural view of the vision-based sorting robot.
In the figure: 1. a conveyor belt; 101. a first tag camera; 102. a one-way push rod; 103. a top pressing plate; 2. An arrangement mechanism; 201. a chassis; 202. side baffles; 203. a sorting turntable; 204. a bidirectional push rod; 3. A label detection mechanism; 301. a base plate; 302. installing a frame; 303. a toothed ring; 304. a first gear; 305. A second label camera; 306. a second gear; 307. supporting a substrate; 308. a single-sided gear; 4. sorting manipulator.
Detailed Description
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, in the present invention, a sorting robot based on vision includes a conveyor belt 1, a first label camera 101, a one-way push rod 102, a top pressure plate 103, an arrangement mechanism 2, a chassis 201, a side baffle 202, a sorting turntable 203, a two-way push rod 204, a label detection mechanism 3, a base plate 301, a mounting frame 302, a toothed ring 303, a first gear 304, a second label camera 305, a second gear 306, a support base plate 307, a one-side gear 308, and a sorting manipulator 4, wherein the arrangement mechanism 2 is located at the right end of the conveyor belt 1, the label detection mechanism 3 is mounted in the middle of the conveyor belt 1, the base plate 301 placed on the ground is included in the label detection mechanism 3, the top of the base plate 301 is rotatably connected with the mounting frame 302 through a bearing and a connecting rod, the inner wall of the mounting frame 302 is slidably connected with the toothed ring 303, one side of the outer wall of the toothed ring 303 is engaged with the first gear 304 located in the mounting frame 302, the motor is installed at the shaft end of the first gear 304, the second label camera 305 is installed at the inner side of the first gear 304, the top of the installation frame 302 is fixedly connected with the second gear 306 through the connecting rod, the supporting base plate 307 which is movably connected with the bottom surface of the second gear 306 is installed above the installation frame 302, the single-sided gears 308 which are positioned at the two sides of the second gear 306 are rotatably connected at the top of the supporting base plate 307 through the bearings, the motors are installed at the shaft ends of the two single-sided gears 308, the two single-sided gears 308 are distributed in parallel, the inner ring of the installation frame 302 is movably connected with the gear ring 303 and the second label camera 305 through the slots, firstly, a user can start the motors at the shaft ends of the two single-sided gears 308, the two motors respectively drive the corresponding single-sided gears 308 to rotate in opposite directions, so that the second gear 306 can be driven to rotate in a left-right reciprocating manner, so that the second gear 306 can also drive the installation frame 302 to rotate in a left-right reciprocating manner, thereby drive second label camera 305 also carries out the back and forth swing within a certain limit, and the user can also start the motor and drive first gear 304 and drive ring gear 303 and rotate to the position of adjustment second label camera 305 on installing frame 302, two kinds of motion, the position of second label camera 305 in the space can fully be adjusted, follows each angle and shoots the label.
The middle part of the conveying belt 1 is of a semicircular ring structure, the conveying belt 1 penetrates through the center circle center of the mounting frame 302, the conveying belt 1 is of a semicircular ring structure, and the angle of adjustment of goods can be assisted in the process of conveying the goods, so that the probability of full display of the label is increased.
Example 1
Referring to fig. 1 to 5, in an embodiment of the present invention, a vision-based sorting robot is provided, a one-way push rod 102 is disposed right below a left end of a conveyor belt 1, a top pressing plate 103 movably connected to the conveyor belt 1 is fixedly connected to a telescopic end of the one-way push rod 102, first label cameras 101 symmetrically distributed about a center of the top pressing plate 103 are mounted on two sides of the left end of the conveyor belt 1, a cargo is pushed to move forward by a roller on a surface of the conveyor belt 1, the one-way push rod 102 can push the top pressing plate 103 located at a gap between the rollers, and the cargo is turned over back and forth by the top pressing plate 103, so that the first label camera 101 can photograph front and back surfaces of the cargo, and a label of the cargo is prevented from being pressed on a side close to the conveyor belt 1 during a label transportation process of a worker.
The left end of the conveying belt 1 is provided with a sorting manipulator 4 located in front of the top pressure plate 103, the sorting manipulator 4 is used as the last link of sorting, and after the first label camera 101 and the second label camera 305 are completely scanned, the goods can be grabbed through the sorting manipulator 4.
Example 2
Referring to fig. 1-5, the difference from embodiment 1 is: the inside chassis 201 that links to each other with ground through the bracing piece that is included of arrangement mechanism 2, side baffle 202 is installed to the chassis 201 top surface left and right sides, letter sorting carousel 203 is installed at chassis 201 top, letter sorting carousel 203 middle part nested has two-way push rod 204, the motor is installed to the bottom of letter sorting carousel 203, the goods can enter into in the clearance of letter sorting carousel 203 in proper order, after letter sorting carousel 203 has held a goods, just can't get into other goods again, along with the continuous rotation of letter sorting carousel 203, two-way push rod 204 can be ejecting with the goods, enter into conveyer belt 1, and the shrink can be accomplished to the opposite side of two-way push rod 204, thereby be favorable to the entering of goods, so circulation is reciprocal, can place the goods on conveyer belt 1 in proper order.
The working principle of the utility model is as follows:
firstly, the goods can enter the arrangement mechanism 2 through other conveying devices, the goods can sequentially enter the gap of the sorting turntable 203, after the sorting turntable 203 receives one goods, the goods can not enter other goods, the two-way push rod 204 can push the goods out along with the continuous rotation of the sorting turntable 203 and enter the conveying belt 1, the other side of the two-way push rod 204 can complete contraction, thereby being beneficial to the entry of the goods, the goods can be placed on the conveying belt 1 in sequence in such a circulating reciprocating way, the goods can pass through the center of the label detection mechanism 3 under the conveying of the conveying belt 1, at the moment, the label detection mechanism 3 can be started, firstly, a user can start the motors at the shaft ends of the two single-side gears 308, the two motors respectively drive the corresponding single-side gears 308 to rotate in opposite directions, and thus can drive the second gear 306 to rotate in a left-right reciprocating way, second gear 306 just can drive the installing frame 302 and also control reciprocating rotation like this, thereby drive second label camera 305 also carries out the swing back and forth within a certain limit, the user can also start motor and drive first gear 304 and drive ring gear 303 and rotate, thereby adjust the position of second label camera 305 on installing frame 302, two kinds of motion, can fully adjust the position of second label camera 305 in the space, shoot the label from each angle, sorting manipulator 4 is the last link of sorting, after first label camera 101 and the whole scans of second label camera 305 are accomplished, just can snatch the goods through sorting manipulator 4.
It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (6)
1. A sorting robot based on vision, its characterized in that: including conveyer belt (1), arrangement mechanism (2) and label detection mechanism (3), arrangement mechanism (2) are located conveyer belt (1) right-hand member, install in conveyer belt (1) middle part label detection mechanism (3), label detection mechanism (3) are inside including placing base plate (301) subaerial, base plate (301) top is rotated through bearing and connecting rod and is connected with installing frame (302), installing frame (302) inner wall sliding connection has ring gear (303), ring gear (303) outer wall one side meshing is connected with first gear (304) that are located installing frame (302) inside, the motor is installed to first gear (304) axle head, second label camera (305) is installed to first gear (304) inboard, connecting rod fixedly connected with second gear (306) is passed through at installing frame (302) top, installing frame (302) top is installed the support base with second gear (306) bottom surface swing joint each other The top of the supporting base plate (307) is rotatably connected with single-side gears (308) located on two sides of the second gear (306) through bearings, and motors are mounted at shaft ends of the two single-side gears (308).
2. A vision-based sorting robot as claimed in claim 1, wherein: a one-way push rod (102) is arranged right below the left end of the conveying belt (1), a top pressing plate (103) movably connected with the conveying belt (1) is fixedly connected with the telescopic end of the one-way push rod (102), and first label cameras (101) which are symmetrically distributed relative to the center of the top pressing plate (103) are mounted on two sides of the left end of the conveying belt (1).
3. A vision-based sorting robot as claimed in claim 1, wherein: arrange inside chassis (201) including linking to each other through bracing piece and ground of mechanism (2), side baffle (202) are installed to chassis (201) top surface left and right sides, letter sorting carousel (203) are installed at chassis (201) top, letter sorting carousel (203) middle part nestification has two-way push rod (204).
4. A vision-based sorting robot as claimed in claim 1, wherein: the two single-side gears (308) are distributed in parallel, and the inner ring of the mounting frame (302) is movably connected with the gear ring (303) and the second label camera (305) through a slot.
5. A vision-based sorting robot according to claim 4, characterised in that: the middle of the conveyer belt (1) is of a semicircular annular structure, and the conveyer belt (1) penetrates through the center of a circle of the center of the mounting frame (302).
6. A vision-based sorting robot as claimed in claim 2, wherein: and a sorting manipulator (4) positioned in front of the top pressure plate (103) is arranged on one side of the left end of the conveying belt (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122476728.XU CN216262032U (en) | 2021-10-14 | 2021-10-14 | Sorting robot based on vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122476728.XU CN216262032U (en) | 2021-10-14 | 2021-10-14 | Sorting robot based on vision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216262032U true CN216262032U (en) | 2022-04-12 |
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ID=81068173
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122476728.XU Expired - Fee Related CN216262032U (en) | 2021-10-14 | 2021-10-14 | Sorting robot based on vision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216262032U (en) |
-
2021
- 2021-10-14 CN CN202122476728.XU patent/CN216262032U/en not_active Expired - Fee Related
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20220412 |