CN217200722U

CN217200722U - Express delivery parcel grabbing device based on binocular vision

Info

Publication number: CN217200722U
Application number: CN202220430204.9U
Authority: CN
Inventors: 黄嘉晖; 杨其华
Original assignee: China Jiliang University
Current assignee: China Jiliang University
Priority date: 2022-03-01
Filing date: 2022-03-01
Publication date: 2022-08-16
Anticipated expiration: 2032-03-01

Abstract

The utility model discloses an express parcel gripping device based on binocular vision, relating to the technical field of express parcel gripping, comprising an mechanical arm and a binocular camera main body, a mechanical hand grip is fixedly arranged on the mechanical arm, a mounting frame is arranged on one side of the mechanical arm, the mounting rack is provided with an adjusting component, the adjusting component comprises a rotating rack which is rotatably connected in the mounting rack, the binocular camera main body is rotatably connected with the rotating rack, through the matching of the rotating frame, the positioning gear, the mounting frame, the positioning rack, the threaded rod, the limiting block and the binocular camera main body in the adjusting assembly, the scanning angle and the height of the binocular camera main body can be adjusted by utilizing the rotation of the rotating frame and fixing the state of the rotating frame, thereby accomplish the profile that scans out the express delivery and include, improved the effect of snatching of arm, avoid the express delivery parcel centre gripping not to live the phenomenon emergence that drops even.

Description

Express delivery parcel grabbing device based on binocular vision

Technical Field

The utility model relates to an express delivery parcel snatchs technical field, especially relates to an express delivery parcel grabbing device based on binocular vision.

Background

Gripping action is a common task in industrial robot applications. In the traditional positioning method, after accurate manual positioning, the grabbing and placing of the workpiece with the standard pose are realized in one step according to a teaching program, but the pose of the workpiece cannot be predicted in many cases, and no rule can be followed. This puts demands on the degree of intelligence of robot body recognition. The robot based on visual identification simulates human vision, can realize identification of a target object and obtain scene depth information, and is developed rapidly in recent years.

The existing patent (publication number: CN207231476U) provides an express parcel gripping device based on binocular vision, an operation object is an express parcel, the shape of the operation object is basically similar to a cuboid, main functions of the device comprise key point identification in an image, parcel contour identification, terminal gripping pose calculation of a gripping robot, gripping track control and the like, functional integration is achieved, working space is saved, operation precision is guaranteed, the intelligent level of work is improved, and the device can be integrated and applied with an express sorting system in a larger range subsequently.

This express delivery parcel grabbing device based on binocular vision confirms the position through the scanning of two mesh cameras, snatchs with the arm again, nevertheless when the express delivery parcel is great, is difficult to the profile of complete scanning out the express delivery parcel with the angle of two mesh cameras, and this will lead to the snatching effect variation of arm, and the phenomenon that the express delivery parcel centre gripping can not appear easily and drops even takes place.

SUMMERY OF THE UTILITY MODEL

The utility model provides an express delivery parcel grabbing device based on binocular vision has solved this express delivery parcel grabbing device based on binocular vision, and through the scanning position of confirming of two mesh cameras, snatchs with the arm again, nevertheless when the express delivery parcel is great, is difficult to the complete profile of scanning out the express delivery parcel with the angle of two mesh cameras, and this will lead to the effect variation that snatchs of arm, appears the technical problem that the phenomenon that express delivery parcel centre gripping can not live and drop even takes place easily.

In order to solve the technical problems, the utility model provides an express parcel gripping device based on binocular vision, which comprises a mechanical arm and a binocular camera main body, wherein the mechanical arm is fixedly provided with a mechanical gripper, a mounting frame is placed at one side of the mechanical arm, an adjusting component is arranged on the mounting frame, the adjusting component comprises a rotating frame which is rotatably connected in the mounting frame, the binocular camera main body is rotatably connected with the rotating frame, the adjusting component is used for adjusting the scanning angle of the binocular camera main body, the adjusting component also comprises a rotating groove which is arranged in the mounting frame, a rotating rod is rotatably connected in the rotating groove, one end of the rotating frame is fixedly connected with the rotating rod, a positioning gear is fixedly connected on the rotating rod, a positioning groove is arranged in the rotating groove, a positioning rack is slidably connected in the positioning groove, and the positioning rack is meshed with the positioning gear, the utility model discloses a camera, including mounting bracket, locating rack, stopper, adjusting component, locating rack, mounting bracket, locating rack and two mesh camera main parts, the mounting bracket internal rotation is connected with the threaded rod, set up the screw hole with threaded rod looks adaptation in the locating rack, the equal fixedly connected with stopper in both sides of locating rack, set up the spacing mouth with stopper looks adaptation in the mounting bracket, through the cooperation of swivel mount, location gear, mounting bracket, locating rack, threaded rod, stopper and two mesh camera main parts, utilize the rotation of swivel mount and fix to its state, can adjust scanning angle and height of two mesh camera main parts to accomplish the profile that the scanning express delivery includes, improved the effect of snatching of arm, avoid the phenomenon that the express delivery parcel centre gripping can not live or even drops to take place.

Preferably, the one end fixedly connected with handle of threaded rod, set up the application of force mouth with handle looks adaptation in the mounting bracket, the accessible is rotated the application of force control threaded rod of handle, is convenient for control the removal of location rack through the threaded rod.

Preferably, fixedly connected with connecting spring in the constant head tank, connecting spring's one end and location rack fixed connection, usable connecting spring's elasticity tightly supports the location rack, makes the location rack and is connected more stably between the positioning gear.

Preferably, the one end fixedly connected with handle of dwang can rotate handle application of force control rotating turret, the handle upper cover is equipped with the connection lid, and the separation of lid is connected to the accessible prevents that personnel from touching the handle by mistake.

Preferably, a mounting groove is formed in the rotating frame, a short connecting rod is rotationally connected in the mounting groove, a rope winding roller is fixedly connected to the short connecting rod, a traction rope is wound and connected in the rope winding roller, one end of the traction rope is fixedly connected with the binocular camera body, a mounting spring is fixedly connected to one side of the binocular camera body, one end of the mounting spring is fixedly connected with the rotating frame, a clamping groove is formed in the mounting groove, a clamping spring is fixedly connected in the clamping groove, a clamping block is fixedly connected to one end of the clamping spring, a plurality of clamping ports matched with the clamping block are formed in the rope winding roller, the clamping block is disconnected from the rope winding roller by applying force, the clamping spring is stressed and deformed, the rope winding roller is rotated by applying force, the binocular camera body is pulled to rotate by the traction rope, the scanning angle of the binocular camera body is finely adjusted, and after fine adjustment is completed, the clamping block is driven by the elasticity of the clamping spring to be clamped into the rope winding roller again, the angle of the binocular camera body is positioned, and the binocular camera body is scanned more clearly and completely by utilizing angle fine adjustment of the binocular camera body.

Preferably, the one end fixedly connected with knob of short connecting rod, one side fixedly connected with of fixture block presses the depression bar, is convenient for control the rotation of short connecting rod and the removal of fixture block.

Preferably, the rotating frame is rotatably connected with a guide wheel, the traction rope is in sliding connection with the guide wheel, sliding friction force between the traction rope and the rotating frame can be weakened, one side of the binocular camera main body is fixedly connected with a leather sleeve, one end of the leather sleeve is fixedly connected with the rotating frame, the mounting spring is mounted inside the leather sleeve, and sundries can be prevented from being clamped inside the mounting spring.

Compared with the prior art, the utility model provides a pair of express delivery parcel grabbing device based on binocular vision has following beneficial effect:

the utility model discloses in, through the cooperation of rotating turret, location gear, mounting bracket, location rack, threaded rod, stopper and two mesh camera main parts in the regulating assembly, utilize the rotation of rotating turret and fixed to its state, can adjust the scanning angle and the height of two mesh camera main parts to accomplish the profile that scans out the express delivery and include, improved the effect of snatching of arm, avoid the phenomenon that express delivery parcel centre gripping does not live and drops even to take place.

Drawings

FIG. 1 is a perspective view of an express package gripping device based on binocular vision;

FIG. 2 is a schematic structural diagram of an express package gripping device based on binocular vision;

FIG. 3 is an enlarged view of the structure at A in FIG. 2;

FIG. 4 is an enlarged view of the structure at B in FIG. 2;

fig. 5 is an enlarged view of the structure at C in fig. 2.

Reference numbers in the figures: 1. a mechanical arm; 2. a mechanical gripper; 3. a mounting frame; 4. a connecting cover; 5. a rotating frame; 6. a knob; 7. a pressing lever; 8. a binocular camera body; 9. positioning a gear; 10. positioning the rack; 11. a limiting block; 12. a connecting spring; 13. a handle; 14. a threaded rod; 15. a hauling rope; 16. a guide wheel; 17. a rope winding roller; 18. a clamping block; 19. a clamp spring; 20. a leather sheath; 21. and installing a spring.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. are used in the orientation or positional relationship indicated on the basis of the drawings, it is only for convenience of description and simplicity of description, and it is not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be considered as limiting the present invention. Furthermore, the terms "first", "second" and "first" 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, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected. Either mechanically or electrically. Either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.

In the first embodiment, as shown in fig. 1-5, an express parcel gripping device based on binocular vision comprises a mechanical arm 1 and a binocular camera body 8, a mechanical gripper 2 is fixedly arranged on the mechanical arm 1, a mounting frame 3 is arranged on one side of the mechanical arm 1, an adjusting assembly is arranged on the mounting frame 3, the adjusting assembly comprises a rotating frame 5 which is rotatably connected in the mounting frame 3, the binocular camera body 8 is rotatably connected with the rotating frame 5, the adjusting assembly is used for adjusting the scanning angle of the binocular camera body 8, the adjusting assembly further comprises a rotating groove which is formed in the mounting frame 3, a rotating rod is rotatably connected in the rotating groove, one end of the rotating frame 5 is fixedly connected with the rotating rod, a positioning gear 9 is fixedly connected on the rotating rod, a positioning groove is formed in the rotating groove, a positioning rack 10 is slidably connected in the positioning groove, the positioning rack 10 is engaged and connected with the

positioning gear

9, 3 internal rotations of mounting bracket are connected with threaded rod 14, set up the screw hole with 14 looks adaptations of threaded rod in the location rack 10, the equal fixedly connected with stopper 11 in both sides of location rack 10, set up the spacing mouth with stopper 11 looks adaptations in the mounting bracket 3, through swivel mount 5 in the adjusting part, positioning gear 9, the mounting bracket 3, location rack 10, threaded rod 14, stopper 11 and two mesh camera main parts 8's cooperation, utilize swivel mount 5's rotation and fixed to its state, can adjust two mesh camera main parts 8's scanning angle and height, thereby accomplish the profile that the scanning express delivery includes, the effect of snatching of arm 1 has been improved, avoid the phenomenon that the express delivery parcel centre gripping can not live and drop even to take place.

Embodiment two, on the basis of embodiment one, the one end fixedly connected with handle 13 of threaded rod 14, set up the application of force mouth with handle 13 looks adaptation in the mounting bracket 3, the accessible rotates handle 13's application of force control threaded rod 14, be convenient for control the removal of location rack 10 through threaded rod 14, fixedly connected with connecting spring 12 in the constant head tank, connecting spring 12's one end and location rack 10 fixed connection, usable connecting spring 12's elasticity tightly supports location rack 10, it is more stable to make the location rack 10 and be connected between the positioning gear 9, the one end fixedly connected with handle of dwang, can rotate handle application of force control rotating turret 5, the handle upper cover is equipped with connection lid 4, the separation of accessible connection lid 4 prevents that personnel from touching the handle by mistake.

In the third embodiment, on the basis of the first embodiment, a mounting groove is formed in the rotating frame 5, a short connecting rod is rotatably connected in the mounting groove, a rope winding roller 17 is fixedly connected to the short connecting rod, a traction rope 15 is wound and connected in the rope winding roller 17, one end of the traction rope 15 is fixedly connected to the binocular camera body 8, one side of the binocular camera body 8 is fixedly connected to a mounting spring 21, one end of the mounting spring 21 is fixedly connected to the rotating frame 5, a clamping groove is formed in the mounting groove, a snap spring 19 is fixedly connected in the clamping groove, one end of the snap spring 19 is fixedly connected to a clamping block 18, a plurality of clamping openings matched with the clamping block 18 are formed in the rope winding roller 17, the clamping block 18 is disconnected from the rope winding roller 17 by applying force, the snap spring 19 is deformed by applying force to the rope winding roller 17 to rotate, the binocular camera body 8 is pulled by the traction rope 15 to rotate, and the scanning angle of the binocular camera body is finely adjusted, after the fine setting is accomplished, order about fixture block 18 by the elasticity of jump ring 19 inside rope-winding roller 17 once more, the angular positioning of binocular camera main part 8 this moment, utilize the angle fine setting to binocular camera main part 8 to make the scanning of binocular camera main part 8 more clear complete, the one end fixedly connected with knob 6 of short circuit pole, one side fixedly connected with press the depression bar 7 of fixture block 18, be convenient for control the rotation of short circuit pole and the removal of

fixture block

18, 5 internal rotation of rotating turret is connected with leading wheel 16, haulage rope 15 and leading wheel 16 sliding connection, can weaken the sliding friction power between haulage rope 15 and the rotating turret 5, one side fixedly connected with leather sheath 20 of binocular camera main part 8, the one end and the rotating turret 5 fixed connection of leather sheath 20, installation spring 21 is installed inside leather sheath 20, can prevent that debris card is inside installation spring 21.

The working principle is as follows:

when the binocular camera body 8 is difficult to completely scan express outlines, the connecting cover 4 is opened by applying force, the handle 13 is rotated by applying force, the threaded rod 14 is rotated by rotating the handle 13 and the positioning rack 10 connected with the threaded rod is moved, when the connection between the positioning rack 10 and the positioning gear 9 is disconnected, the rotating frame 5 is rotated by applying force, the height and the scanning angle of the binocular camera body 8 can be adjusted, after the adjustment is completed, the threaded rod 14 is rotated by rotating the handle 13, the positioning rack 10 is moved to be butted with the positioning gear 9, the angle of the rotating frame 5 is positioned, the clamping block 18 is disconnected by applying force to the rope winding roller 17, the clamping spring 19 is deformed by applying force, the rope winding roller 17 is rotated by applying force, the binocular camera body 8 is pulled by the pulling rope 15 to rotate, and the scanning angle is finely adjusted, after the fine adjustment is completed, the elastic force of the snap spring 19 drives the clamping block 18 to be clamped into the rope winding roller 17 again, and at the moment, the angle of the binocular camera body 8 is positioned.

It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides an express delivery parcel grabbing device based on binocular vision, a serial communication port, including arm (1) and binocular camera main part (8), arm (1) is gone up the fixed mechanical gripper (2) that is provided with, mounting bracket (3) have been placed to one side of arm (1), be provided with adjusting part on mounting bracket (3), adjusting part is including rotating swivel mount (5) of connection in mounting bracket (3), binocular camera main part (8) are rotated with swivel mount (5) and are connected, adjusting part is used for adjusting the scanning angle of binocular camera main part (8).

2. The binocular vision based express package pickup apparatus of claim 1, wherein, the adjusting component also comprises a rotating groove arranged in the mounting rack (3), the rotating groove is rotationally connected with a rotating rod, one end of the rotating frame (5) is fixedly connected with the rotating rod, a positioning gear (9) is fixedly connected on the rotating rod, a positioning groove is arranged in the rotating groove, a positioning rack (10) is connected in the positioning groove in a sliding way, the positioning rack (10) is meshed with the positioning gear (9), a threaded rod (14) is rotationally connected in the mounting rack (3), a threaded hole matched with the threaded rod (14) is formed in the positioning rack (10), both sides of the positioning rack (10) are fixedly connected with limiting blocks (11), and a limiting opening matched with the limiting block (11) is formed in the mounting frame (3).

3. The binocular vision-based express parcel gripping device of claim 2, wherein one end of the threaded rod (14) is fixedly connected with a handle (13), and a force application opening matched with the handle (13) is formed in the mounting frame (3).

4. The binocular vision-based express parcel gripping device as claimed in claim 2, wherein a connecting spring (12) is fixedly connected in the positioning groove, and one end of the connecting spring (12) is fixedly connected with the positioning rack (10).

5. The binocular vision-based express package grabbing device according to claim 2, wherein a handle is fixedly connected to one end of the rotating rod, and a connecting cover (4) is arranged on an upper cover of the handle.

6. The binocular vision based express package pickup apparatus of claim 2, wherein, an installation groove is arranged in the rotating frame (5), a short connecting rod is rotationally connected in the installation groove, a rope winding roller (17) is fixedly connected to the short connecting rod, a traction rope (15) is wound and connected in the rope winding roller (17), one end of the traction rope (15) is fixedly connected with the binocular camera main body (8), one side of the binocular camera main body (8) is fixedly connected with a mounting spring (21), one end of the mounting spring (21) is fixedly connected with the rotating frame (5), a clamping groove is arranged in the mounting groove, a clamp spring (19) is fixedly connected in the clamping groove, one end of the clamp spring (19) is fixedly connected with a clamping block (18), a plurality of bayonets matched with the clamping blocks (18) are formed in the rope winding roller (17).

7. The binocular vision-based express package grabbing device according to claim 6, wherein one end of the short extension rod is fixedly connected with a knob (6), and one side of the fixture block (18) is fixedly connected with a pressing rod (7).

8. The binocular vision based express parcel grabbing device according to claim 6, wherein a guide wheel (16) is rotationally connected in the rotating frame (5), the traction rope (15) is slidably connected with the guide wheel (16), a leather sheath (20) is fixedly connected to one side of the binocular camera main body (8), one end of the leather sheath (20) is fixedly connected with the rotating frame (5), and the mounting spring (21) is mounted inside the leather sheath (20).