CN216399666U - Robot dynamic grabbing device based on line laser camera - Google Patents
Robot dynamic grabbing device based on line laser camera Download PDFInfo
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- CN216399666U CN216399666U CN202122788548.5U CN202122788548U CN216399666U CN 216399666 U CN216399666 U CN 216399666U CN 202122788548 U CN202122788548 U CN 202122788548U CN 216399666 U CN216399666 U CN 216399666U
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Abstract
A robot dynamic grabbing device based on a line laser camera is characterized in that conveying equipment is arranged on the upper surface of a workbench, a grabbing robot is installed on one side of the conveying equipment, a control cabinet of the grabbing robot is installed in a storage space below the workbench, a mechanical arm body of the grabbing robot is installed on the upper surface of the workbench at a position close to the side, and a material placing box is arranged beside a base of the mechanical arm body; the upper surface of the workbench, which is far away from one side of the mechanical arm body, of the conveying equipment is provided with a camera mounting mechanism, the camera mounting mechanism comprises a slide rail vertically mounted on the workbench, a first slide block is slidably mounted on one side of the slide rail, a camera support is rotatably mounted on the first slide block, and a line laser camera is mounted on the lower surface of the camera support. The robot arm has a compact structure, can fully utilize the working space of the robot arm, does not have the problem of damaging parts due to mutual collision caused by small working space, has high identification precision and positioning precision, is accurate to grab, and improves the working efficiency of a production line.
Description
Technical Field
The utility model relates to a robot dynamic grabbing device, in particular to a robot dynamic grabbing device based on a line laser camera, and belongs to the technical field of robot equipment.
Background
Robotics has been a rapid development for half a century. At present, the robot technology enters various fields such as military, aerospace, industry, agriculture and the like, and the robot has a dominant position in the industrial fields such as operations of carrying, welding, assembling and the like. The application of the method is mature for static working environments of visual grabbing operation such as stacking, sorting and the like in a simple scene, but the number of frames of the 3D camera in an unordered grabbing scene is low, and the processing speed is slow; the dynamic vision grabbing in a complex scene needs a high frame rate, grabbing difficulty is higher along with random movement of a target object, production efficiency of a production line is affected, all parts of an existing dynamic grabbing device are separated from each other, the size is larger, the structure is complex, positioning accuracy is low, a mechanical arm working space is small, and parts are damaged due to collision easily.
Disclosure of Invention
Aiming at the problems in the prior art, the utility model provides the robot dynamic grabbing device based on the line laser camera, which is compact in structure, capable of fully utilizing the working space of the mechanical arm, free of the problem that parts are damaged due to mutual collision caused by small working space, high in identification precision and positioning precision, accurate in grabbing and capable of improving the working efficiency of a production line.
In order to achieve the purpose, the utility model provides a robot dynamic grabbing device based on a line laser camera, which comprises a workbench, a conveying device and a frame, wherein the conveying device is arranged on the upper surface of the workbench, a grabbing robot is arranged on one side of the conveying device, the grabbing robot comprises a mechanical arm body and a control cabinet which are mutually controlled and connected, the control cabinet is arranged in a storage space under the workbench, the mechanical arm body is arranged on the upper surface of the workbench at a position close to the side, and a material placing box is arranged beside a base of the mechanical arm body;
the upper surface of keeping away from arm body one side workstation at transfer apparatus is equipped with camera installation mechanism, camera installation mechanism includes the vertical slide rail of installing on the workstation, and slide rail has slider one towards one side slidable mounting of transfer apparatus, and the rotatory installation camera support on slider one, camera support surface mounting line laser camera.
An R-axis optical rotating platform is installed between the first sliding block and the camera support, the camera support is driven to rotate through the R-axis optical rotating platform, and then the line laser camera is driven to rotate by a scanning angle, so that the line laser camera can comprehensively and accurately scan all directions of a workpiece.
As a further improvement of the utility model, the camera bracket is arranged perpendicular to the first sliding block, a sliding groove is formed in the camera bracket, and the line laser camera is arranged on the camera bracket in a sliding mode through the sliding groove.
The conveying device comprises a conveying belt, wherein the conveying belt is arranged on the upper surface of a workbench through a frame, a servo motor is arranged on one side of the frame and connected with a driving shaft of the conveying belt through a coupler, and a motor controller is arranged on the lower surface of the workbench and connected with the servo motor in a control mode.
As a further improvement of the utility model, a first threaded rod penetrates through a vertical thread on the first sliding block, the first threaded rod is rotatably installed on one side, facing the conveying equipment, of the sliding rail, a first rotating disc is rotatably installed at the top end of the sliding rail, and the first rotating disc is in driving connection with the first threaded rod.
As a further improvement of the utility model, the bottom end of the sliding rail is provided with an adjusting component, the adjusting component comprises a second sliding block, the second sliding block is slidably mounted on the upper surface of the workbench, the bottom end of the sliding rail is fixed on the second sliding block through a bottom plate, two sides of the second sliding block are provided with clamping grooves for the bottom plate to be sleeved, a second threaded rod penetrates through horizontal threads on the second sliding block, one end of the second threaded rod is rotatably mounted on the upper surface of the workbench through a fixing plate, and the other end of the second threaded rod is provided with a driving box.
As a further improvement of the utility model, the driving box is fixed on the workbench, the second threaded rod penetrates into the driving box and is provided with a conical driven gear, a conical driving gear is arranged in the driving box close to the top wall, the driving box is meshed with the conical driven gear, and a second rotary table in driving connection with the conical driving gear is arranged on the upper surface of the driving box.
Compared with the prior art, when the workpiece is conveyed, after the information of the workpiece is scanned by the online laser camera, the conveying time, the speed and the displacement of the conveying belt can be read through the motor controller, the dynamic information of the workpiece can be calculated by combining the information, the grabbing robot is guided to track the moving workpiece and complete grabbing operation, the workpiece does not need to be stopped, the workpiece can be used for assembly line operation instead of manpower, and manpower is saved; can make camera support drive line laser camera rotate along the conveyer belt direction through R axle optics rotary platform, adjust line laser camera's scanning angle, order about slider one through a rotation of threaded rod and go up and down to slide, can adjust line laser camera's height, drive the slide rail translation through two rotatory promotion sliders of threaded rod, can adjust line laser camera's horizontal position. The utility model can realize the rapid dynamic processing of workpieces, has compact structure, can fully utilize the working space of the mechanical arm, can not cause the problem of damaging parts by mutual collision due to small working space, has high identification precision, high positioning precision and accurate grabbing, and improves the working efficiency of a production line.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural diagram of a camera mounting mechanism according to the present invention;
FIG. 3 is a schematic view of the adjusting assembly of the present invention;
fig. 4 is a schematic view of the internal structure of the drive box according to the present invention.
In the figure: 1. the automatic feeding device comprises a workbench, 2, conveying equipment, 3, a grabbing robot, 4, a camera mounting mechanism, 5, an adjusting assembly, 6, a conveying belt, 7, a frame, 8, a servo motor, 9, a discharging box, 10, a motor controller, 11, a mechanical arm body, 12, a control cabinet, 13, a sliding rail, 14, a first sliding block, 15, an R-axis optical rotating platform, 16, a camera support, 17, a line laser camera, 18, a sliding groove, 19, a bottom plate, 20, a first threaded rod, 21, a first rotating disc, 22, a second sliding block, 23, a second threaded rod, 24, a fixing plate, 25, a driving box, 26, a clamping groove, 27, a second rotating disc, 28, a conical driven gear, 29 and a conical driving gear.
Detailed Description
The utility model will be further explained with reference to the drawings.
As shown in figure 1, a robot dynamic grabbing device based on a line laser camera comprises a workbench 1, a conveying device 2 and a frame 7, wherein a storage space is arranged below the workbench 1 and used for installing electrical equipment, the conveying device 2 is arranged on the upper surface of the workbench 1, the conveying device 2 comprises a conveying belt 6, the conveying belt 6 is installed on the upper surface of the workbench 1 through the frame 7, the frame 7 is fixed through a 90-degree angle piece, a servo motor 8 is installed on one side of the frame 7, the servo motor 8 is fixed on the workbench through a motor base, the servo motor 8 is connected with a driving shaft of the conveying belt 6 through a coupler, a workpiece is placed on the conveying belt 6, the servo motor 8 is started to drive the conveying belt 6 to work and drive the workpiece to move and convey, a motor controller 10 is installed on the lower surface of the workbench 1, and the motor controller 10 is in control connection with the servo motor 8, the motor controller 10, the router and the serial server form a wireless local area network, the motor controller 10 is controlled to function as the servo motor 8 in a communication mode, and then the starting and stopping of the conveying belt 6 and the conveying speed of the conveying belt 6 are controlled.
As shown in fig. 1 and 2, a camera mounting mechanism 4 is arranged on the upper surface of the workbench 1 on the side of the conveying equipment 2 far away from the mechanical arm body 11, the camera mounting mechanism 4 comprises a slide rail 13 vertically mounted on the workbench 1, the slide rail 13 is positioned on the other side of the conveying belt 6 and forms a diagonal line with the mechanical arm body 11 to prevent collision in the grabbing process, a first slider 14 is slidably mounted on one side of the slide rail 13 facing the conveying equipment 2, a camera support 16 is rotatably mounted on one side of the first slider 14 far away from the slide rail 13, a wired laser camera 17 is mounted on the lower surface of the camera support 16, the wired laser camera 17 can be controlled to scan and image through local area network communication, the scanning speed and the signal conversion speed of the linear laser camera 17 are high, the responsiveness is high, dynamic measurement can be performed even in a low-illumination working environment, and therefore grabbing or tracking operation can be performed when a workpiece to be handled moves, meanwhile, the line laser camera 17 has higher precision and higher resolution. The line laser emitted by the line laser camera 17 irradiates on the conveying belt 6, when a workpiece passes through the laser, the line laser camera 17 scans information of the workpiece, the motor controller 10 can read conveying time, speed and displacement of the conveying belt 6, dynamic information of the workpiece is calculated by combining the information, the grabbing robot 3 can be guided to track the moving workpiece and complete grabbing, the workpiece does not need to stop after being scanned by the line laser camera 17, and the dynamic information is transmitted to the grabbing robot 3, and then the grabbing robot 3 can perform tracking operation.
An R-axis optical rotating platform 15 is arranged between the first sliding block 14 and the camera support 16, the camera support 16 can be rotated towards the direction of the conveying belt 6 through the R-axis optical rotating platform 15 to adjust the scanning angle of the line laser camera 17, the camera support 16 is arranged perpendicular to the first sliding block 14, and camera support 16 is last to be seted up spout 18, line laser camera 17 passes through spout 18 slidable mounting on camera support 16, can adjust the position of line laser camera 17 on camera support 16, threaded rod one 20 is worn to be equipped with by vertical screw thread on the slider one 14, threaded rod one 20 rotates to be installed in one side of slide rail 13 towards transfer apparatus 2, threaded rod one 20 is rotatory to drive slider one 14 and goes up and down along slide rail 13, can adjust line laser camera 17's scanning height, slide rail 13 top is rotatory to be installed carousel one 21, carousel one 21 and threaded rod one 20 drive connection for drive threaded rod one 20 is rotatory.
As shown in fig. 2-4, the bottom end of the sliding rail 13 is provided with an adjusting assembly 5, the adjusting assembly 5 includes a second slider 22, the second slider 22 is slidably mounted on the upper surface of the worktable 1, the slider 22 is rectangular and can prevent the slider 22 from rotating during sliding, the bottom end of the sliding rail 13 is fixed on the second slider 22 through a bottom plate 19, the bottom plate 19 is connected with the second slider 22 through a bolt, two sides of the second slider 22 are provided with a slot 26 for the bottom plate 19 to be sleeved, which is beneficial to connection and disconnection between the bottom plate 19 and the second slider 22, a second threaded rod 23 is horizontally threaded on the second slider 22, one end of the second threaded rod 23 is rotatably mounted on the upper surface of the worktable 1 through a fixing plate 24, the other end of the second threaded rod 23 is provided with a driving box 25, the second threaded rod 23 rotates to drive the second slider 22 to slide on the upper surface of the worktable 1, and the sliding manner can drive the sliding rail 13 to translate to achieve the purpose of adjusting the horizontal position of the line laser camera 17, the drive box 25 is fixed on the workstation 1, and two 23 threaded rods penetrate inside the drive box 25 and be provided with toper driven gear 28, and the inside toper driving gear 29 of installing that is close to the roof of drive box 25, and drive box 25 and toper driven gear 28 mesh, and drive box 25 upper surface mounting has two 27 of carousel of being connected with toper driving gear 29 drive, rotates two 27 of carousel, can drive toper driving gear 29 and toper driven gear 28 synchronous revolution, and then drives two 23 rotations of threaded rod.
The working principle is as follows: when the robot is used, firstly, the servo motor 8, the grabbing robot 3 and the line laser camera 17 are electrified, line laser emitted by the line laser camera 17 irradiates on the conveying belt 6, a workpiece is placed on the conveying belt 6, the servo motor 8 is started to drive the conveying belt 6 to work, the workpiece is driven to move, after the workpiece passes through laser, the line laser camera 17 scans information of the workpiece, the conveying time, the speed and the displacement of the conveying belt 6 can be read by the motor controller 10, dynamic information of the workpiece can be calculated by combining the information, the control cabinet 12 can be guided to control the mechanical arm body 11 to track the moving workpiece, when the workpiece moves to a working area of the grabbing robot 3 along with the conveying belt 6, the grabbing robot 3 grabs and is placed in a material placing box beside the robot, and grabbing operation is completed; through R axle optics rotary platform 15, can make camera support 16 drive line laser camera 17 and rotate along the conveyer belt direction, it is rotatory to drive threaded rod one 20 through rotating carousel one 21, can order about slider one 14 and drive line laser camera 17 and go up and down, through rotating carousel two 27, can drive two 23 rotatory promotion sliders of threaded rod two 22 and drive slide rail 13 and remove, adjusts line laser camera 17's horizontal position.
Claims (7)
1. A robot dynamic grabbing device based on a line laser camera comprises a workbench (1), a conveying device (2) and a frame (7), and is characterized in that the conveying device (2) is arranged on the upper surface of the workbench (1), a grabbing robot (3) is installed on one side of the conveying device (2), the grabbing robot (3) comprises a mechanical arm body (11) and a control cabinet (12) which are mutually controlled and connected, the control cabinet (12) is installed in a storage space under the workbench (1), the mechanical arm body (11) is installed on the upper surface of the workbench (1) at a position close to the side, and a material placing box (9) is arranged beside a base of the mechanical arm body (11);
keep away from arm body (11) one side workstation (1) upper surface at transfer apparatus (2) and be equipped with camera installation mechanism (4), camera installation mechanism (4) include vertical slide rail (13) of installing on workstation (1), and slide rail (13) have slider (14) towards one side slidable mounting of transfer apparatus (2), and rotatory installation camera support (16) on slider (14), surface mounting line laser camera (17) under camera support (16).
2. The line laser camera-based robot dynamic gripping device according to claim 1, characterized in that an R-axis optical rotating platform (15) is installed between the first slider (14) and the camera bracket (16).
3. The line laser camera-based robot dynamic grabbing device of claim 1 or 2, characterized in that the camera bracket (16) is installed perpendicular to the first slider (14), a sliding groove (18) is formed in the camera bracket (16), and the line laser camera (17) is slidably installed on the camera bracket (16) through the sliding groove (18).
4. The line laser camera-based robot dynamic grabbing device according to claim 3, wherein the conveying equipment (2) comprises a conveying belt (6), the conveying belt (6) is installed on the upper surface of the workbench (1) through a frame (7), a servo motor (8) is installed on one side of the frame (7), the servo motor (8) is connected with a driving shaft of the conveying belt (6) through a coupler, a motor controller (10) is installed on the lower surface of the workbench (1), and the motor controller (10) is in control connection with the servo motor (8).
5. The line laser camera-based robot dynamic grabbing device of claim 3, characterized in that a first threaded rod (20) penetrates through a vertical thread on the first slider (14), the first threaded rod (20) is rotatably installed on one side of the sliding rail (13) facing the conveying device (2), a first rotating disc (21) is rotatably installed at the top end of the sliding rail (13), and the first rotating disc (21) is in driving connection with the first threaded rod (20).
6. The dynamic robot gripping device based on the line laser camera is characterized in that an adjusting component (5) is arranged at the bottom end of the sliding rail (13), the adjusting component (5) comprises a second sliding block (22), the second sliding block (22) is slidably mounted on the upper surface of the workbench (1), the bottom end of the sliding rail (13) is fixed on the second sliding block (22) through a bottom plate (19), clamping grooves (26) for the base plate (19) to be sleeved are formed in two sides of the second sliding block (22), a second threaded rod (23) penetrates through horizontal threads on the second sliding block (22), one end of the second threaded rod (23) is rotatably mounted on the upper surface of the workbench (1) through a fixing plate (24), and a driving box (25) is arranged at the other end of the second threaded rod (23).
7. The robot dynamic grabbing device based on line laser camera of claim 6, characterized in that, the driving box (25) is fixed on the workbench (1), the second threaded rod (23) penetrates into the driving box (25) and is provided with a conical driven gear (28), a conical driving gear (29) is installed inside the driving box (25) close to the top wall, the driving box (25) is engaged with the conical driven gear (28), and a second rotary table (27) in driving connection with the conical driving gear (29) is installed on the upper surface of the driving box (25).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122788548.5U CN216399666U (en) | 2021-11-15 | 2021-11-15 | Robot dynamic grabbing device based on line laser camera |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122788548.5U CN216399666U (en) | 2021-11-15 | 2021-11-15 | Robot dynamic grabbing device based on line laser camera |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216399666U true CN216399666U (en) | 2022-04-29 |
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ID=81301823
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122788548.5U Active CN216399666U (en) | 2021-11-15 | 2021-11-15 | Robot dynamic grabbing device based on line laser camera |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216399666U (en) |
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2021
- 2021-11-15 CN CN202122788548.5U patent/CN216399666U/en active Active
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