CN216913889U

CN216913889U - PLC control servo motor carries 3D camera guide robot and snatchs material loading

Info

Publication number: CN216913889U
Application number: CN202220465479.6U
Authority: CN
Inventors: 刘增龙; 俞江一
Original assignee: Hangzhou Zhinanche Robot Technology Co ltd
Current assignee: Jiangsu Zhongke Zhizhiche Robot Technology Co.,Ltd.
Priority date: 2022-02-28
Filing date: 2022-02-28
Publication date: 2022-07-08
Anticipated expiration: 2032-02-28

Abstract

The utility model relates to the technical field of robot grabbing and feeding, in particular to a PLC (programmable logic controller) controlled servo motor carrying a 3D (three-dimensional) camera to guide a robot to grab and feed materials. According to the utility model, the camera moves horizontally on the servo guide rail, and the servo is provided with the band-type brake and the encoder, so that the camera can be stopped at the initial point of the calibration external parameter particularly accurately, images are shot on two discharging points, the using number of the camera is reduced, and the cost is reduced; and the servo system can accurately move the camera to a proper position, thereby preventing the camera from being virtually focused on the edge image of the visual field.

Description

PLC control servo motor carries 3D camera guide robot and snatchs material loading

Technical Field

The utility model relates to the technical field of robot grabbing and feeding, in particular to a PLC (programmable logic controller) controlled servo motor carrying a 3D (three-dimensional) camera to guide a robot to grab and feed.

Background

Snatch during work such as pile up neatly at the robot, often can use 3D vision positioning technique, gather the image through setting up fixed camera equipment, control the robot afterwards and snatch the material, along with 3D vision application scene is more extensive, it is hard, software cost is higher thereupon to bring.

3D vision positioning needs very accurate external parameters of a camera and the physical position relation between the camera and a robot cannot be changed, otherwise, safety problems occur due to deviation between a result obtained by vision photographing and the position of the robot moving to a vision point, and therefore when a plurality of material loading positions exist in a single station, a plurality of cameras are often required to be arranged for image acquisition, and the use cost is increased; in addition, when the camera is fixed, the imaging quality is not better than the ideal situation of the middle area due to the virtual focus of the image at the edge of the camera view field.

SUMMERY OF THE UTILITY MODEL

Aiming at the defects in the prior art, the utility model aims to provide a PLC (programmable logic controller) for controlling a servo motor to carry a 3D (three-dimensional) camera to guide a robot to grab a material, so as to solve the problems that the physical position relationship between the existing camera and the robot cannot be changed, a plurality of cameras need to be arranged, the use cost is increased, the virtual focus of an image at the edge of a visual field is generated when the camera is fixed, and the imaging quality is not as good as that of a middle area.

The above object of the present invention is achieved by the following technical solutions:

PLC control servo motor carries D camera guide robot and snatchs the material loading, including blowing board, guide rail device, camera device, switch and blowing point, the fixed guide rail device that is equipped with of top surface of blowing board, guide rail device's upper end cup joints and is equipped with camera device, camera device horizontal migration on guide rail device, one side of guide rail device is equipped with the switch, the switch is fixed on blowing board, guide rail device's opposite side is equipped with the blowing point.

The present invention in a preferred example may be further configured to: the guide rail device comprises a supporting rod, a fixing rod and a servo guide rail, the supporting rod is fixed on the material placing plate, the fixing rod is transversely and fixedly arranged at the top end of the supporting rod, the servo guide rail is sleeved on the outer side of the fixing rod, and the camera device is sleeved on the outer side of the servo guide rail.

The present invention in a preferred example may be further configured to: the servo guide rail comprises a limiting frame and a limiting groove, the limiting frame is fixed on two sides of the servo guide rail, the camera device is clamped on the inner side of the limiting frame and horizontally moves on the inner side of the limiting frame, and the limiting groove is formed in the inner wall of the limiting frame.

The present invention in a preferred example may be further configured to: the camera device comprises a moving frame, a fixing mechanism, a servo motor and a camera, wherein the moving frame is sleeved on the outer side of the servo guide rail, the fixing mechanism is fixedly arranged on one side of the moving frame, the servo motor is arranged on the inner side of the fixing mechanism, the servo motor is sleeved on the inner side of the moving frame, and the camera is fixedly arranged on the side wall of the servo motor.

The present invention in a preferred example may be further configured to: the fixed establishment includes fixed plate, movable plate, screw rod and movable nut, the fixed plate is fixed in the one side of removing the frame, one side of fixed plate is equipped with the movable plate, the movable plate is located the inboard that removes the frame, the fixed screw rod that is equipped with on the movable plate, the one end of screw rod runs through the fixed plate, cup joint on the screw rod and be equipped with movable nut, movable nut is located the opposite side of fixed plate.

The present invention in a preferred example may be further configured to: the switch comprises a plurality of insertion ports and wires, the side walls of the switch are provided with the insertion ports, the wires are inserted into the inner sides of the insertion ports, and the other ends of the wires are fixedly connected with the camera device.

The present invention in a preferred example may be further configured to: the camera device comprises a camera device, a camera device and an emptying point, wherein the emptying point comprises a first emptying point and a second emptying point, the first emptying point is fixed on the emptying plate and is located below the camera device, the second emptying point is fixedly arranged on one side of the first emptying point and is located below the camera device.

In summary, the present invention includes at least one of the following beneficial effects:

1. in the using process, the servo guide rail and the camera device are arranged, the moving frame on the camera device moves horizontally on the servo guide rail, so that the internal servo motor and the camera are driven to move horizontally, the camera can stop at the initial point of the external parameter calibration particularly accurately due to the fact that the servo system is provided with the band-type brake and the encoder, images are shot on two discharging points, a plurality of shooting positions are arranged through the servo system, the using number of fixed cameras is reduced, and the using cost is reduced; and the camera moves to a proper position accurately by moving the camera on the servo to process the camera view, thereby preventing the camera view edge image from being virtual focused, and causing the imaging quality to be inferior to the ideal condition of the middle area.

2. In the using process of the robot, the switch is arranged, the switch is connected with the camera device through the wire, and other insertion ports on the switch are connected with an external PLC control system, an industrial personal computer, a robot and the like, so that the camera can be conveniently controlled by the PLC to shoot, the shot position information is transferred to the robot, and the robot is guided to carry out grabbing work.

Drawings

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

FIG. 2 is a side view of the present invention;

FIG. 3 is a top view of the present invention;

FIG. 4 is a schematic structural diagram of an image capturing device according to the present invention;

fig. 5 is a schematic structural diagram of the fixing mechanism of the present invention.

Reference numerals: 1. a material placing plate; 2. a guide rail device; 21. a support bar; 22. fixing the rod; 23. a servo guide rail; 231. a limiting frame; 232. a limiting groove; 3. a camera device; 31. moving the frame; 32. a fixing mechanism; 321. a fixing plate; 322. moving the plate; 323. a screw; 324. a movable nut; 33. a servo motor; 34. a camera; 4. a switch; 41. an interface; 42. a wire; 5. a discharging point; 51. a first discharge point; 52. and a second emptying point.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

Referring to fig. 1-5, the present invention provides the following technical solutions: PLC control servo motor carries 3D camera guide robot and snatchs the material loading, including blowing board 1, guide rail device 2, camera device 3, switch 4 and blowing point 5, the fixed guide rail device 2 that is equipped with of top surface of blowing board 1, guide rail device 2's upper end cup joints and is equipped with camera device 3, camera device 3 is horizontal migration on guide rail device 2, one side of guide rail device 2 is equipped with switch 4, switch 4 is fixed on blowing board 1, guide rail device 2's opposite side is equipped with blowing point 5.

Referring to fig. 1, 2 and 3, specifically, the guide rail device 2 includes a support rod 21, a fixing rod 22 and a servo guide rail 23, the support rod 21 is fixed on the material discharging plate 1, the fixing rod 22 is transversely fixed at the top end of the support rod 21, the servo guide rail 23 is sleeved outside the fixing rod 22, and the camera device 3 is sleeved outside the servo guide rail 23; the servo guide rail 23 comprises a limiting frame 231 and a limiting groove 232, the limiting frame 231 is fixed on two sides of the servo guide rail 23, the camera device 3 is clamped on the inner side of the limiting frame 231, the camera device 3 horizontally moves on the inner side of the limiting frame 231, and the limiting groove 232 is arranged on the inner wall of the limiting frame 231; the switch 4 comprises a plurality of interfaces 41 and wires 42, the side wall of the switch 4 is provided with the plurality of interfaces 41, the wires 42 are inserted into the inner sides of the interfaces 41, and the other ends of the wires 42 are fixedly connected with the camera device 3; emptying point 5 includes an emptying point 51 and No. two emptying points 52, emptying point 51 is fixed on blowing board 1, emptying point 51 is located camera device 3's below, one side of an emptying point 51 is fixed and is equipped with No. two emptying points 52, No. two emptying points 52 are located camera device 3's below, according to an emptying point 51 and No. two emptying points 52, set up two shooting points through spacing groove 232 on servo guide rail 23, can be according to the blowing point position of difference, insert fixed article of using in spacing groove 232 and carry out spacingly to camera 34, external PLC control system shoots through switch 4 control camera device 3 afterwards, thereby conveniently acquire the information of two shooting points, convey PLC for information through switch 4, thereby the control robot snatchs the work.

Referring to fig. 4 and 5, specifically, the image capturing apparatus 3 includes a moving frame 31, a fixing mechanism 32, a servo motor 33 and a camera 34, the moving frame 31 is sleeved on the outer side of the servo guide rail 23, the fixing mechanism 32 is fixedly disposed on one side of the moving frame 31, the servo motor 33 is disposed on the inner side of the fixing mechanism 32, the servo motor 33 is sleeved on the inner side of the moving frame 31, and the camera 34 is fixedly disposed on the side wall of the servo motor 33; the fixing mechanism 32 comprises a fixing plate 321, a moving plate 322, a screw 323 and a movable nut 324, the fixing plate 321 is fixed on one side of the moving frame 31, the moving plate 322 is arranged on one side of the fixing plate 321, the moving plate 322 is located on the inner side of the moving frame 31, the screw 323 is fixedly arranged on the moving plate 322, one end of the screw 323 penetrates through the fixing plate 321, the movable nut 324 is sleeved on the screw 323, the movable nut 324 is located on the other side of the fixing plate 321, the camera 34 is precisely controlled to horizontally move on the servo guide rail 23 through the servo guide rail 23 and the servo motor 33, the servo motor 33 and the camera 34 are fixed through the fixing mechanism 32, and the camera 34 is convenient to mount and dismount.

The utility model has the following use flow and working principle: when the utility model is used, firstly, the camera device 3 is connected on the switch 4 through the lead 42, then the external PLC control end, the industrial personal computer, the robot and other equipment are connected on the plug-in port 41 of the switch 4, then when the materials are conveyed to the visual field of the camera 34 and placed at the first discharging point 51 and the second discharging point 52, the materials are input into the PLC system according to the known workpiece model, the PLC controls the servo guide rail 23 and the servo motor 33 through the switch 4 to enable the camera 34 to move to the shooting position of the first discharging point 51, the PLC sends a shooting instruction to the industrial personal computer, the industrial personal computer triggers the camera 34 to shoot through the switch 4, the camera 34 shoots and processes data to obtain position information, then the information is transmitted to the PLC through the switch 4, the PLC transmits the obtained data to the robot through the switch 4, and then guides the robot to move to the first discharging point 51 to realize grabbing, the motion is repeatedly circulated until the material at the first discharging point 51 is emptied, the PLC controls the camera device 3 to move on the servo guide rail 23, and after the camera device moves to the second discharging point 52, the PLC controls the camera 34 to scan the material again, so that the robot is guided to grab again, and the circulation is carried out.

The embodiments of the present invention are preferred embodiments of the present invention, and the scope of the present invention is not limited by these embodiments, so: all equivalent changes made according to the structure, shape and principle of the utility model are covered by the protection scope of the utility model.

Claims

PLC control servo motor carries 3D camera guide robot and snatchs the material loading, including blowing board (1), guide rail device (2), camera device (3), switch (4) and blowing point (5), its characterized in that: the fixed guide rail device (2) that is equipped with of top surface of blowing board (1), the upper end of guide rail device (2) is cup jointed and is equipped with camera device (3), camera device (3) horizontal migration on guide rail device (2), one side of guide rail device (2) is equipped with switch (4), switch (4) are fixed on blowing board (1), the opposite side of guide rail device (2) is equipped with blowing point (5).
2. The PLC controlled servo motor of claim 1, carrying a 3D camera to guide a robot to grab a material load, wherein: guide rail device (2) include bracing piece (21), dead lever (22) and servo guide rail (23), bracing piece (21) are fixed on blowing board (1), the top of bracing piece (21) is horizontal to be fixed and is equipped with dead lever (22), the outside of dead lever (22) is cup jointed and is equipped with servo guide rail (23), camera device (3) cup joint the outside at servo guide rail (23).
3. The PLC controlled servo motor of claim 2, carrying a 3D camera to guide a robot to grab a material load, wherein: servo guide rail (23) are including spacing frame (231) and spacing groove (232), the both sides at servo guide rail (23) are fixed in spacing frame (231), camera device (3) block is inboard at spacing frame (231), camera device (3) are at the inboard horizontal migration of spacing frame (231), be equipped with spacing groove (232) on the inner wall of spacing frame (231).
4. The PLC controlled servo motor of claim 1, carrying a 3D camera to guide a robot to grab a material load, wherein: camera device (3) are including removing frame (31), fixed establishment (32), servo motor (33) and camera (34), remove frame (31) and cup joint the outside at servo guide rail (23), the fixed establishment (32) that is equipped with in one side of removing frame (31), the inboard of fixed establishment (32) is equipped with servo motor (33), servo motor (33) cup joint the inboard at removing frame (31), the fixed camera (34) that is equipped with on the lateral wall of servo motor (33).
5. The PLC controlled servo motor of claim 4, carrying a 3D camera to guide a robot to grab a material load, wherein: fixed establishment (32) are including fixed plate (321), movable plate (322), screw rod (323) and activity nut (324), fixed plate (321) are fixed in the one side of removing frame (31), one side of fixed plate (321) is equipped with movable plate (322), movable plate (322) are located the inboard of removing frame (31), fixed screw rod (323) that is equipped with on movable plate (322), fixed plate (321) is run through to the one end of screw rod (323), cup joint on screw rod (323) and be equipped with activity nut (324), activity nut (324) are located the opposite side of fixed plate (321).
6. The PLC controlled servo motor of claim 1, carrying a 3D camera to guide a robot to grab a material load, wherein: the switch (4) comprises a plug-in port (41) and a wire (42), a plurality of plug-in ports (41) are formed in the side wall of the switch (4), the wire (42) is arranged on the inner side of each plug-in port (41) in a plug-in mode, and the other end of the wire (42) is fixedly connected with the camera device (3).
7. The PLC controlled servo motor of claim 1, carrying a 3D camera to guide a robot to grab a material load, wherein: the discharging point (5) comprises a discharging point (51) and a discharging point (52), the discharging point (51) is fixed on the discharging plate (1), the discharging point (51) is located below the camera device (3), the discharging point (52) is fixedly arranged on one side of the discharging point (51), and the discharging point (52) is located below the camera device (3).