CN216574272U

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

Info

Publication number: CN216574272U
Application number: CN202123160311.9U
Authority: CN
Inventors: 陈李平
Original assignee: Wuxi Feilike Technology Co ltd
Current assignee: Liu Zehua
Priority date: 2021-12-15
Filing date: 2021-12-15
Publication date: 2022-05-24
Anticipated expiration: 2031-12-15

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

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

Technical Field

The utility model relates to the technical field of acquisition and identification of commodity bar codes, in particular to a visual identification and removal device for the tail end of a six-axis mechanical arm.

Background

Industrial robots in the market at present are divided into two types, one type is a four-axis mechanical arm, the four-axis mechanical arm is suitable for carrying and assembling with small loads, the stroke is short, and the four-axis mechanical arm is mainly used for completing operation in a table top type and is used for plane type movement. One type is a six-axis mechanical arm, and the six-axis mechanical arm has two more rotating shafts than a four-axis mechanical arm and can complete the motion of a three-dimensional track. The multi-degree-of-freedom six-axis mechanical arm has a large reachable range and strong load capacity, plays an important role in production and life, and is widely applied.

Machine vision identification obtains extensive application at industrial automation production, but most robotic arm mounting form is fixed, and in commodity bar code collection and identification technical application, fixed arm leads to different production lines to be equipped with machine vision identification device alone because of its immobility, very big increase enterprise operation cost. Therefore, it is necessary to develop a visual recognition and rejection device for a mobile six-axis robot.

SUMMERY OF THE UTILITY MODEL

In order to overcome the technical defects, the utility model aims to provide a visual identification and rejection device for the tail end of a six-axis mechanical arm.

The technical scheme adopted by the utility model is as follows: the utility model provides a terminal visual identification of six robotic arm and removing devices, includes that automatic transportation produces the line and installs the end mechanism on six robotic arm, automatic transportation produces the line and takes including the transportation, end mechanism includes camera, camera lens, distance sensor and second gas blow pipe, the camera lens is connected with the camera, and the camera lens setting takes the top of output in the transportation, distance sensor and second gas blow pipe all set up the one side in the transportation area.

Furthermore, the tail end mechanism further comprises a sensor up-and-down adjusting block and a sensor left-and-right adjusting block, the sensor up-and-down adjusting block is used for enabling the distance sensor to move up and down, and the sensor left-and-right adjusting block is used for enabling the distance sensor to move left and right.

Furthermore, the tail end mechanism further comprises a camera up-and-down adjusting block, and the camera up-and-down adjusting block is used for enabling the camera to move up and down.

Furthermore, the tail end mechanism further comprises a light source lamp, and a light source cover is arranged on the light source lamp.

Furthermore, the terminal mechanism further comprises a fixing piece, the camera is arranged on the fixing piece, and the fixing piece is connected with the six-axis mechanical arm through a connecting ring.

Further, the automatic conveying production line further comprises an NG recycling box, and the NG recycling box and the second air blowing pipes are arranged on two sides of the conveying belt respectively.

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

Compared with the prior art, the utility model has the following beneficial effects: 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 can be used for anti-counterfeiting tracing of bar codes of different types of products, and provides a solution for industrial Internet of things. 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.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic left side view of the tip mechanism of the present invention;

fig. 3 is a schematic view of the right side of the end mechanism of the present invention.

Detailed Description

The utility model is described in detail below with reference to the figures and the specific embodiments.

As shown in fig. 1 to 3, a visual recognition and rejection device for the tail end of a six-axis robot arm includes an automatic transportation production line and a tail end mechanism installed on the six-axis robot arm 3. Six robotic arm 3 sets up on sweeping a yard rack 1, sweeps a yard rack 1 and is provided with integrative industrial computer of touch-control 2.

The automatic transport production line comprises a transport belt 6, and the transport belt 6 is used for transporting the products 4 to be identified.

Automatic production line still includes NG collection box 5, and NG collection box 5 and end mechanism all set up the output at conveyer belt 6.

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. The product guide rod 7 is arranged above the conveying belt 6, when the product 4 is conveyed, the product 4 is placed on the conveying belt 6, one side of the product 4 is attached to the product guide rod 7, the product 4 moves along the length direction of the product guide rod 7, and the product guide rod 7 is used for adjusting and limiting the placing position of the product 4, so that the bar code information of the conveyed product 4 in the conveying state can be completely captured by the lens 9.

The tail end mechanism comprises a camera 8, a lens 9, a distance sensor 10, a fixing part 12, a sensor up-down adjusting block 13, a sensor left-right adjusting block 14, a light source lamp 15, a camera up-down adjusting block 17, a support 18, a first air blowing pipe 19 and a second air blowing pipe 20.

The upper end of the fixing part 12 is fixedly connected with the tail end of the six-axis mechanical arm 3 through a connecting ring 11, and the lower end of the fixing part 12 is fixedly connected with a bracket 18.

The camera up-down adjusting block 17 is arranged on the fixing part 12 in a vertically reciprocating sliding manner, and the camera up-down adjusting block 17 is fixedly connected with the camera 8. The camera up-and-down adjusting 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 adjusting block 13 is arranged on the support 18 in a vertically reciprocating sliding mode, the sensor left-and-right adjusting block 14 is arranged on the sensor up-and-down adjusting block 13 in a horizontally reciprocating sliding mode, and the sensor left-and-right adjusting block 14 is fixedly connected with the distance sensor 10. The sensor up-down adjusting block 13 is used for moving the distance sensor 10 up and down, and the sensor left-right adjusting block 14 is used for moving the distance sensor 10 left and right. The distance sensor 10 moves left and right, namely moves left and right along the conveying direction of the conveyor belt 6. According to the different size specifications of different products, adjust distance sensor 10 position to make distance sensor 10 can in time collect the product transportation position signal that awaits measuring, and pass relevant information to the integrative industrial computer 2 of touch-control, and then make the integrative industrial computer 2 of touch-control can in time control camera and camera lens shoot the photo of information such as the product bar code parameter that awaits measuring.

The light source lamp 15 is provided with a light source cover 16, and the light source cover 16 is used for gathering the light of the light source lamp 15 at the lower part. The light source lamp 15 is used for illuminating the product 4, so that the shooting is clear.

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

The NG recycling box 5 and the second blowing pipe are respectively arranged on two sides of the conveying belt 6. The outlet 21 of the second blowing duct 20 can blow air to the undesirable products to blow the undesirable products into the NG recovery tank 5. The inlet of the second blowing pipe 20 is connected with the air source through the first blowing pipe 19.

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

Sweep a yard rack bottom and install the universal wheel of locking ability, sweep and be provided with the coupling mechanism who is connected with six robotic arm on the yard rack.

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

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

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

Six robotic arms, six robotic arm includes six degrees of freedom: the six-freedom-degree movement of the tail end is realized by combining six joints, namely rotation (an S axis), a lower arm (an L axis), an upper arm (a U axis), wrist rotation (an R axis), wrist swing (a B axis) and wrist rotation (a T axis).

During the use, the product is put on the conveyer belt at interval in proper order, and the integrative industrial computer of touch-control is given with the information transmission of the product position of gathering to distance sensor, and when the product reachd the settlement position, integrative industrial computer of touch-control camera shot corresponding product to gather relevant information such as the bar code of commodity, gather the image information who shoots and pass to the integrative industrial computer of touch-control. After the touch integrated industrial personal computer is subjected to identification and analysis, products meeting requirements are output from the output end of the conveying belt. To the product that does not accord with the requirement, the integrative industrial computer of touch-control controls opening of air supply for the mouth of blowing blows out, blows in NG collection box with the product that does not accord with the requirement.

The above embodiments are based on the technical solution of the present invention, and detailed implementation and specific operation processes are given, but the scope of the present invention is not limited to the above embodiments.

Claims

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).