CN217915318U

CN217915318U - 3D robot positioning, unstacking and grabbing visual device

Info

Publication number: CN217915318U
Application number: CN202221897546.8U
Authority: CN
Inventors: 赵占良; 吕伟; 吕广英
Original assignee: Tianjin Mag Tech Co ltd
Current assignee: Tianjin Mag Tech Co ltd
Priority date: 2022-07-22
Filing date: 2022-07-22
Publication date: 2022-11-29
Anticipated expiration: 2032-07-22

Abstract

The utility model discloses a 3D robot location is unstacked and is snatched vision device, including vision device body and camera lens, still include and hang dress mechanism, hang dress mechanism by Z shaped plate, draw-in groove, connect seat, screw, double-screw bolt, base handle, L shaped plate and through-hole soon and constitute, the end plate surface mounting of vision device body is used for the robot that unstacks to carry out the camera lens that 3D vision gathered the location, and the vision device body surface of camera lens rear has the long plate body of Z shaped plate through bolt locking, and the short plate body surface of Z shaped plate offers the draw-in groove that is used for base handle top double-screw bolt embedding, the double-screw bolt screw thread connects soon in the screw department that connects seat in the middle part soon, is provided with and hangs dress mechanism in the vision device body department of unstacking robot, sets up in vision device body department with the help of hanging dress mechanism for the vision device body can relax after accomplishing the installation with the terminal arm of the robot that unstacks, has made things convenient for the quick dismantlement maintenance of vision device body.

Description

3D robot positioning, unstacking and grabbing visual device

Technical Field

The utility model relates to a robot technical field breaks a jam, in particular to 3D robot location snatchs vision device breaks a jam.

Background

The unstacking robot is also called as an unstacking robot, and is a general name of the unstacking robot and the stacking robot. Nowadays, many manufacturing enterprises all can use the robot in the later stage of packing to replace artifical and the lower equipment of degree of automation, not only can use manpower sparingly the cost, can also operate the product according to predetermined form high-efficiently more fast. The same is true in the depalletizing and palletizing stages of the packaging. Some large beverage, dairy and food production enterprises have applied high-tech destacking and palletizing equipment. China already has several packaging suppliers offering high quality destacking and palletizing equipment, which quality is comparable even to the foreign advanced technology.

The robot unstacking workstation based on 3D vision-assisted positioning disclosed by the patent number CN202022595584.5 comprises a manipulator body, a clamping mechanism arranged on the manipulator and a vision device arranged on the clamping mechanism and used for identifying and positioning a plastic turnover box; the clamping mechanism comprises a mounting bracket arranged on the manipulator and at least one group of locking assemblies arranged on the mounting bracket. The device has adopted the 3D vision system of high accuracy and high recognition rate to fix a position the plastics turnover case, and the clamping system that simultaneously the cooperation can adapt to multiple box picks the plastics turnover case of difference.

At present, when a robot is positioned, unstacked and grabbed, a 3D vision device is needed to acquire images of objects to be grabbed for fine assembly, so that object grabbing points are judged when a control system of the robot grabs, the 3D vision device is usually locked at the tail end of a mechanical arm of the robot by means of more bolts, the 3D vision device adopting the multi-bolt locking installation mode is inconvenient to disassemble and maintain, and therefore, the 3D robot positioning, unstacking and grabbing vision device is provided.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a main aim at provides 3D robot location is unstacked and is snatched vision device, is provided with at the vision device body department of the robot that unstacks and hangs dress mechanism, with the help of hanging the setting of dress mechanism in vision device body department for the dismantlement that can relax after the installation is accomplished with the terminal arm of the robot that unstacks to the vision device body gets off, has made things convenient for the quick dismantlement maintenance of vision device body, can effectively solve the problem in the background art.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

3D robot location is unstacked and is snatched vision device, including vision device body and camera lens, still including hanging dress mechanism, it comprises Z shaped plate, draw-in groove, joint chair, screw, double-screw bolt, end handle, L shaped plate and through-hole to hang dress mechanism, the end plate surface mounting of vision device body has the camera lens that is used for the robot of unstacking to carry out 3D vision acquisition location, and the vision device body surface at camera lens rear has the long plate body of Z shaped plate through bolt locking, and the short plate body surface of Z shaped plate offers the draw-in groove that is used for end handle top double-screw bolt embedding, the double-screw bolt screw thread connects in the screw department of joint chair middle part soon, and welds the riser body of L shaped plate in the pedestal one side of joint chair soon, and the through-hole that the bolt got into the robot casing has been seted up soon to the plate body surface of L shaped plate.

Furthermore, a U-shaped rubber seat which can cover the inner edge of the inner wall of the lens and is provided with a raised inner edge is sleeved at the position, away from the shell of the Z-shaped plate, of the vision device body; the elastic U-shaped rubber seat with the inner edge can be used for covering and protecting the lens when the lens is not in operation.

Furthermore, one end of the stud body is welded to the middle of the end face of the handle body of the bottom handle; the stud is welded and fixed with the bottom handle.

Further, the diameter of the handle body of the bottom handle is larger than the width of the groove body of the clamping groove; the larger bottom handle can not pass through the groove body of the clamping groove.

Furthermore, two groups of through holes are formed in the surface of the L-shaped plate flat plate body; two groups of through holes on the surface of the L-shaped plate can be screwed into two groups of bolts to be screwed with a tail end mechanical arm shell of the unstacking robot.

Compared with the prior art, the utility model discloses following beneficial effect has:

the utility model discloses a visual device body department at the robot breaks a jam is provided with and hangs the dress mechanism, with the help of hanging the setting of dress mechanism in visual device body department, make the visual device body can be easily dismantled after accomplishing the installation with the terminal arm of the robot breaks a jam, has made things convenient for the quick dismantlement maintenance of visual device body; the elastic U-shaped rubber base with the inner edge can be used for protecting the cover sleeve when the lens is not in operation, and the U-shaped rubber base can be pulled down to recover the visual collection of the lens when the lens is in operation.

Drawings

Fig. 1 is the utility model discloses 3D robot location is unstacked and is snatched vision device's overall structure sketch map.

Fig. 2 is the utility model discloses 3D robot location is unstacked and is snatched the hanging installation mechanism blast chart of vision device.

Fig. 3 is the utility model discloses the schematic view is dismantled to 3D robot location destacking snatchs vision device's U-shaped rubber base.

In the figure: 1. a vision device body; 2. a lens; 3. a hanging mechanism; 301. a Z-shaped plate; 302. a card slot; 303. a screwing seat; 304. a screw hole; 305. a stud; 306. a bottom handle; 307. an L-shaped plate; 308. a through hole; 4. a U-shaped rubber base; 5. an inner edge.

Detailed Description

In order to make the utility model realize, the technical means, the creation characteristics, the achievement purpose and the efficacy are easy to understand and understand, the utility model is further explained by combining the specific implementation mode.

As shown in fig. 1-3, 3D robot location unstacking snatchs vision device, including vision device body 1 and camera lens 2, still include and hang dress mechanism 3, it comprises Z shaped plate 301, draw-in groove 302, connects seat 303, screw 304, double-screw bolt 305, end handle 306, L shaped plate 307 and through-hole 308 to hang dress mechanism 3, the end plate surface mounting of vision device body 1 has the camera lens 2 that is used for the robot that destacks to carry out 3D vision collection location, and the vision device body 1 surface behind camera lens 2 has the long plate body of Z shaped plate 301 through bolt locking, and the short plate body surface of Z shaped plate 301 offers the draw-in groove 302 that is used for end handle 306 top double-screw bolt 305 embedding, double-screw bolt 305 screw-thread connects in the screw 304 department that connects seat 303 to the middle part soon, and the vertical plate body that has L shaped plate 307 to weld on one side of the seat 303 soon, and the through-hole 308 that can pass through the bolt entering robot casing is offered to the flat plate body surface of L shaped plate 307.

A U-shaped rubber seat 4 which can cover the inner wall of the lens 2 and is provided with an inner edge 5 in a protruding manner is sleeved at the position, far away from the shell of the Z-shaped plate 301, of the vision device body 1; the elastic U-shaped rubber base 4 with the inner edge 5 can be covered and sheathed when the lens 2 is not in operation.

One end of the stud 305 is welded to the middle of the end face of the handle body of the bottom handle 306; the stud 305 and the bottom handle 306 are welded and fixed; the diameter of the handle body of the bottom handle 306 is larger than the width of the groove body of the clamping groove 302; the larger bottom handle 306 does not pass through the slot body of the slot 302; two groups of through holes 308 are formed in the surface of the flat plate of the L-shaped plate 307; two sets of through holes 308 on the surface of the L-shaped plate 307 can be screwed into two sets of bolts to screw with the end arm housing of the unstacking robot.

It should be noted that, the utility model discloses a 3D robot location unstacking snatchs vision device, visual device body 1 department at the robot that unstacks is provided with the mechanism of hanging 3, the Z shaped plate 301 of the mechanism of hanging 3 locks the surface at the visual device body 1 of camera lens 2 rear with the help of the bolt, then use the through-hole 308 that the bolt passed L shaped plate 307 to screw in the terminal arm casing department of the robot that unstacks, pinch the base handle 306 at this moment and screw the screw 304 department of screw base 305 screw in L shaped plate 307 one side screw base 303 and expose partial screw thread cylinder, Z shaped plate 301 can the card cover carry out the hanging of vision device body 1 in the partial pedestal department that screw 305 exposes in screw base 303 department with the help of draw-in groove 302 this moment, then continue to screw in screw 304 screw in screw 305 and make Z shaped plate 301 compressed tightly between base handle 306 and screw base 303 difficult not hard up, then camera lens 2 of vision device body 1 can provide 3D's vision image acquisition location in the arm department of the robot that unstacks from the side direction, after visual device body 1 trouble, can slightly screw 305, make the base handle 306 and screw base 303 compress tightly press the screw base 301 and press from its lateral direction and remove the Z shaped plate and can be dismantled.

The utility model relates to a 3D robot positioning, unstacking and grabbing vision device, which comprises a vision device body 1; 2. a lens; 3. a hanging mechanism; 301. a Z-shaped plate; 302. a card slot; 303. a screwing seat; 304. a screw hole; 305. a stud; 306. a bottom handle; 307. an L-shaped plate; 308. a through hole; 4. a U-shaped rubber base; 5. the inner edges and the components are all standard parts or parts known to the person skilled in the art, the structure and the principle of which are known to the person skilled in the art by means of technical manuals or by means of routine experimentation.

The basic principles and the main features of the invention and the advantages of the invention have been shown and described above. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only illustrative of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the present invention, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

3D robot location is unstacked and is snatched vision device, including vision device body (1) and camera lens (2), its characterized in that: still include hanging dress mechanism (3), it comprises Z shaped plate (301), draw-in groove (302), connects seat (303), screw (304), double-screw bolt (305), base handle (306), L shaped plate (307) and through-hole (308) soon to hang dress mechanism (3), the end plate surface mounting of vision device body (1) has camera lens (2) that are used for the unstacking robot to carry out 3D vision acquisition location, and the long plate body that has Z shaped plate (301) through bolt locking on vision device body (1) surface at camera lens (2) rear, and the short plate body surface of Z shaped plate (301) offers draw-in groove (302) that is used for base handle (306) top double-screw bolt (305) embedding, double-screw bolt (305) screw soon connects in screw (304) department that connects seat (303) in the middle part soon, and the vertical plate body of the welding of the seat body one side of connecting seat (303) soon has L shaped plate (307), and the through-hole (308) that can pass through the bolt entering robot casing soon are seted up on the flat plate body surface of L shaped plate (307).
2. The 3D robot positioning unstacking and grabbing vision device of claim 1, characterized in that: the shell of the vision device body (1) far away from the Z-shaped plate (301) is sleeved with a U-shaped rubber seat (4) which can cover the inner wall of the lens (2) and is provided with an inner ridge (5) in a protruding mode.
3. The 3D robot positioning, unstacking, gripping vision device of claim 1, wherein: one end of the stud (305) is welded to the middle of the end face of the handle body of the bottom handle (306).
4. The 3D robot positioning unstacking and grabbing vision device of claim 1, characterized in that: the diameter of the handle body of the bottom handle (306) is larger than the width of the groove body of the clamping groove (302).
5. The 3D robot positioning unstacking and grabbing vision device of claim 1, characterized in that: two groups of through holes (308) are arranged on the surface of the flat plate body of the L-shaped plate (307).