CN216574272U - Visual identification and removing device for tail ends of six-axis mechanical arms - Google Patents

Abstract

The vision identification and removal device for the tail end of the six-axis mechanical arm is wide in application range, can be used for collecting production line product bar codes of different specifications, can be used for carrying out remote intelligent operation, observing the motion condition of the movable mechanical arm and identifying the product bar codes in real time, and can upload identification information to a background server at regular time to realize product identification and removal. The utility model effectively reduces the production cost of enterprises, improves the production efficiency of the enterprises, and reduces the labor cost and financial investment of the enterprises. The automatic conveying production line comprises a conveying belt, and the tail end mechanism is arranged on a six-axis mechanical arm and comprises a camera, a lens, a distance sensor and a second air blowing pipe, wherein the lens is connected with the camera and is arranged above the output end of the conveying belt, and the distance sensor and the second air blowing pipe are arranged on one side of the conveying belt.

Description

A visual recognition and rejection device for the end of a six-axis robotic arm

technical field

The utility model relates to the technical field of collection and identification of commodity bar codes, in particular to a visual identification and rejection device at the end of a six-axis mechanical arm.

Background technique

At present, there are two types of industrial robots on the market. One is the four-axis robotic arm, which is suitable for the handling and assembly of small loads. One is the six-axis robotic arm. The six-axis robotic arm has two more rotation axes than the four-axis robotic arm, which can complete the movement of the three-dimensional trajectory. The multi-degree-of-freedom six-axis manipulator has a large reach and strong load capacity. It plays a very important role in production and life and is widely used.

Machine vision recognition is widely used in industrial automation production, but most of the robot arms are installed in a fixed form. In the application of commodity barcode collection and identification technology, the fixed robot arm is immobile, so different production lines need to be equipped separately. The machine vision recognition device greatly increases the operating cost of the enterprise. Therefore, it is necessary to study a visual recognition and rejection device for a mobile six-axis robotic arm.

Utility model content

In order to overcome the deficiencies of the above technologies, the purpose of the present invention is to provide a visual recognition and rejection device for the end of a six-axis mechanical arm.

The technical scheme adopted by the utility model is: a visual recognition and rejection device for the end of a six-axis mechanical arm, comprising an automatic transport production line and an end mechanism installed on the six-axis mechanical arm, and the automatic transport production line includes a transport belt , the end mechanism includes a camera, a lens, a distance sensor and a second blowing pipe, the lens is connected with the camera, and the lens is arranged above the output end of the conveyor belt, and the distance sensor and the second blowing pipe are both arranged on the conveyor belt. side.

Further, the end mechanism further includes a sensor up and down adjustment block and a sensor left and right adjustment block, the sensor up and down adjustment block is used to make the distance sensor move up and down, and the sensor left and right adjustment block is used to make the distance sensor move left and right.

Further, the end mechanism further includes a camera up and down adjustment block, and the camera up and down adjustment block is used to make the camera move up and down.

Further, the end mechanism further includes a light source lamp, and the light source lamp is provided with a light source cover.

Further, the end mechanism further includes a fixing piece, the camera is arranged on the fixing piece, and the fixing piece is connected with the six-axis robotic arm through a connecting ring.

Further, the automatic transport production line further includes a NG recovery box, and the NG recovery box and the second blowing pipe are respectively arranged on both sides of the transport belt.

Further, the automatic transportation production line further includes a product guide rod, and the product guide rod is arranged at the input end of the conveyor belt.

Compared with the prior art, the utility model has the following beneficial effects: the visual identification and rejection device at the end of the six-axis mechanical arm described in the utility model has a wide range of applications and can collect barcodes of production line products of different specifications. , capable of remote intelligent operation, real-time observation of the movement of the mobile robotic arm and identification of product barcodes, and can regularly upload identification information to the background server to realize product identification and rejection. The utility model can be used for the anti-counterfeiting traceability of the barcodes of different types of products, and provides a solution for the industrial Internet of Things. The utility model effectively reduces the production cost of the enterprise, improves the production efficiency of the enterprise, and reduces the labor cost and the investment of the financial resources of the enterprise.

Description of drawings

Fig. 1 is the structural representation of the present utility model;

Fig. 2 is the left side structural schematic diagram of the terminal mechanism of the present invention;

FIG. 3 is a schematic view of the right side structure of the terminal mechanism of the present invention.

Detailed ways

The present utility model will be described in detail below with reference to the accompanying drawings and specific embodiments.

As shown in Figures 1 to 3, a visual recognition and rejection device for the end of a six-axis robotic arm includes an automatic transport production line and an end mechanism installed on the six-axis robotic arm 3. The six-axis robotic arm 3 is arranged on the code scanning cabinet 1 , and the scanning code cabinet 1 is provided with a touch-integrated industrial computer 2 .

The automatic transport production line includes a transport belt 6 for transporting the products 4 that need to be identified.

The automatic transport production line further includes an NG recovery box 5 , and the NG recovery box 5 and the end mechanism are both arranged at the output end of the transport belt 6 .

The automatic transport production line further includes a product guide rod 7 , and the product guide rod 7 is arranged at the input end of the conveyor belt 6 . The product guide rod 7 is arranged above the conveyor belt 6. When transporting the product 4, place the product 4 on the conveyor belt 6, and make one side of the product 4 stick to the product guide rod 7, and the product 4 is along the length direction of the product guide rod 7. Moving, the product guide rod 7 is used to adjust and limit the placement position of the product 4 , so that the barcode information on the transported product 4 in the transport state can be completely captured by the lens 9 .

The end mechanism includes a camera 8, a lens 9, a distance sensor 10, a fixing member 12, a sensor up and down adjustment block 13, a sensor left and right adjustment block 14, a light source lamp 15, a camera up and down adjustment block 17, a bracket 18, a first blowpipe 19 and The second blowing pipe 20 .

The upper end of the fixing member 12 is fixedly connected to the end of the six-axis robot arm 3 through the connecting ring 11 , and the lower end of the fixing member 12 is fixedly connected to the bracket 18 .

The camera up-and-down adjustment block 17 is reciprocally slid up and down on the fixing member 12 , and the camera up-down adjustment block 17 is fixedly connected with the camera 8 . The camera up and down adjustment block 17 can drive the camera 8 to move up and down, so that the position of the lens 9 can be adjusted.

The sensor up-and-down adjustment block 13 is arranged on the bracket 18 by sliding up and down, the sensor left-right adjustment block 14 is reciprocatingly arranged on the sensor up-down adjustment block 13, and the sensor left-right adjustment block 14 is fixedly connected with the distance sensor 10. The sensor up and down adjustment block 13 is used to make the distance sensor 10 move up and down, and the sensor left and right adjustment block 14 is used to make the distance sensor 10 move left and right. The left and right movement of the distance sensor 10 means the left and right movement along the conveying direction of the conveying belt 6 . According to the different sizes and specifications of different products, the position of the distance sensor 10 is adjusted, so that the distance sensor 10 can collect the transportation position signal of the product to be tested in time, and transmit the relevant information to the touch-integrated industrial computer 2, thereby making the touch-integrated industrial control Machine 2 can control the camera and lens in time to take pictures of the barcode parameters of the product to be tested.

The light source lamp 15 is provided with a light source cover 16, and the light source cover 16 is used to collect the light of the light source lamp 15 below. The light source lamp 15 is used for illuminating the product 4 so as to facilitate clear shooting.

The lens 9 is connected to the camera 8 , and the lens 9 is arranged above the output end of the conveyor belt 6 , and the distance sensor 10 and the second blowing pipe 20 are both disposed on the same side of the conveyor belt 6 .

The NG recovery box 5 and the second blowing pipe are respectively arranged on both sides of the conveyor belt 6 . The air blowing port 21 of the second air blowing pipe 20 can blow air to the products that do not meet the requirements, so as to blow the products that do not meet the requirements into the NG recovery box 5 . The air inlet of the second air blowing pipe 20 is connected to the air source through the first air blowing pipe 19 .

The second blowing pipe 20 is vertically and fixedly connected to the first blowing pipe 19 .

A universal wheel with locking capability is installed at the bottom of the code scanning cabinet, and a connecting mechanism for connecting with a six-axis mechanical arm is arranged on the code scanning cabinet.

The touch-integrated industrial computer is respectively connected in communication with the camera, the distance sensor, and the light source lamp; the touch-integrated industrial computer is provided with a visual recognition system, and the visual recognition system timely collects the output image data of the camera according to the distance sensor signal.

The touch-integrated industrial computer controls the drive mechanism, and the drive mechanism drives the sensor up and down adjustment blocks 13 , the sensor left and right adjustment blocks 14 , and the camera up and down adjustment blocks 17 to move. The touch-integrated industrial computer has the functions of a computer host and a controller.

The touch integrated industrial computer controls the air supply or cut off of the air source.

The six-axis robotic arm includes six degrees of freedom: rotation (S-axis), lower arm (L-axis), upper arm (U-axis), wrist rotation (R-axis), wrist swing (B-axis) and The wrist is rotated (T axis), and the six joints are synthesized to realize the six-degree-of-freedom movement at the end.

When in use, the products are placed on the conveyor belt at intervals, and the distance sensor transmits the collected product position information to the touch integrated industrial computer. When the product reaches the set position, the touch integrated industrial computer controls the camera to the corresponding product. Take pictures, so as to collect relevant information such as barcodes of commodities, and transfer the captured image information to the touch integrated industrial computer. After the touch integrated industrial computer is identified and analyzed, the products that meet the requirements are output from the output end of the conveyor belt. For products that do not meet the requirements, the touch integrated industrial computer controls the opening of the air source, so that the air blowing port blows air out, and the products that do not meet the requirements are blown into the NG recovery box.

The above embodiments are based on the technical solutions of the present invention, and provide detailed implementations and specific operation processes, but the protection scope of the present invention is not limited to the above embodiments.

Claims (7)

1. The utility model provides a terminal visual identification of six robotic arm and removing devices which characterized in that: produce the line and install the end mechanism on six robotic arm (3) including automatic transportation, automatic transportation is produced the line and is taken (6) including the transportation, end mechanism includes camera (8), camera lens (9), distance sensor (10) and second gas blow pipe (20), camera lens (9) are connected with camera (8), and camera lens (9) set up in the top of transportation area (6) output, distance sensor (10) and second gas blow pipe (20) all set up the one side in transportation area (6).

2. The vision recognition and rejection apparatus for six-axis robot arm end of claim 1, wherein: the tail end mechanism further comprises a sensor up-and-down adjusting block (13) and a sensor left-and-right adjusting block (14), the sensor up-and-down adjusting block (13) is used for enabling the distance sensor (10) to move up and down, and the sensor left-and-right adjusting block (14) is used for enabling the distance sensor (10) to move left and right.

3. The vision recognition and rejection device for six-axis robot arm ends of claim 1, wherein: the tail end mechanism further comprises a camera up-and-down adjusting block (17), and the camera up-and-down adjusting block (17) is used for enabling the camera (8) to move up and down.

4. The vision recognition and rejection apparatus for six-axis robot arm end of claim 1, wherein: the tail end mechanism further comprises a light source lamp (15), and a light source cover (16) is arranged on the light source lamp (15).

5. The vision recognition and rejection apparatus for six-axis robot arm end of claim 1, wherein: the tail end mechanism further comprises a fixing piece (12), the camera (8) is arranged on the fixing piece (12), and the fixing piece (12) is connected with the six-axis mechanical arm (3) through a connecting ring (11).

6. The vision recognition and rejection apparatus for six-axis robot arm end of claim 1, wherein: the automatic conveying production line further comprises an NG recycling box (5), and the NG recycling box (5) and the second air blowing pipes (20) are arranged on two sides of the conveying belt (6) respectively.

7. The vision recognition and rejection apparatus for six-axis robot arm end of claim 1, wherein: the automatic conveying production line further comprises a product guide rod (7), and the product guide rod (7) is arranged at the input end of the conveying belt (6).

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