CN217963594U - Visual sorting robot with adjustable recognition height - Google Patents
Visual sorting robot with adjustable recognition height Download PDFInfo
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- CN217963594U CN217963594U CN202222310240.4U CN202222310240U CN217963594U CN 217963594 U CN217963594 U CN 217963594U CN 202222310240 U CN202222310240 U CN 202222310240U CN 217963594 U CN217963594 U CN 217963594U
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- frame body
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- sorting robot
- sliding
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Abstract
The utility model discloses a visual sorting robot with adjustable recognition height, which comprises a control box shell, wherein the upper transmission part of the control box shell is connected with a frame body, the frame body is provided with a sliding device, the sliding device is connected with a gripping device, the control box shell is provided with a gravity sensor, and the gravity sensor is provided with a workpiece placing plate; the support body is internally provided with a fixed rod, the fixed rod is provided with mounting plates at intervals, and the mounting plates penetrate out of the support body and are used for mounting the sliding device. The utility model, by changing the height of the sliding mechanism, the position of the camera is set to be adjustable, thereby increasing the sorting range of the sorting robot and improving the accuracy rate of identification and the sorting efficiency; when an article with small volume is grabbed, the stroke of the grabbing end is shortened, and unnecessary electric energy consumption is saved; in addition, the gravity sensor is arranged to acquire the quality information of the object, so that the phenomenon that the object is grabbed overweight is avoided, and the generation of extra cost is avoided.
Description
Technical Field
The utility model belongs to letter sorting machine people field, especially a but visual sorting machine people of height-adjusting discernment.
Background
A sorting robot is a robot with a sensor, an objective lens and an electronic optical system, and can quickly sort goods. In the sorting process, most of the existing sorting robots adopt an image recognition technology to identify articles, but in the traditional sorting machine, a camera is arranged at a fixed position, so that the articles with large volume can be identified barely, and the articles with small volume cannot be identified accurately; and to small object, snatch the lift stroke grow of end, the time addition efficiency of snatching reduces, has still caused unnecessary energy resource consumption, and can not accurately judge the quality of object when snatching, often leads to snatching by force and causes the injury to machine itself.
SUMMERY OF THE UTILITY MODEL
Utility model purpose: the utility model aims at providing an discernment is accurate, energy saving's visual sorting robot of adjustable discernment height.
The technical scheme is as follows: a visual sorting robot with adjustable recognition height comprises a control box shell, a frame body, a sliding device and a grabbing device; the control box shell is in transmission connection with a frame body, a sliding device is installed on the frame body, and a grabbing device is connected to the sliding device; the device is characterized in that a gravity sensor is arranged on the control box shell, and a workpiece placing plate is arranged on the gravity sensor; the support body is internally provided with a fixed rod, the fixed rod is provided with mounting plates at intervals, and the mounting plates penetrate out of the support body and are used for mounting the sliding device.
Wherein, a control mainboard, a storage battery, a cooling fan and an alarm are arranged in the control box shell; the control mainboard is connected with the storage battery, the cooling fan, the alarm and the gravity sensor through electric wires respectively.
Wherein, be equipped with first motor on the control box shell, the support body is connected to the output of first motor.
The sliding device comprises a second motor, a fixed plate, a sliding block and sliding rod mechanism and a screw rod; the second motor is arranged on a vertical framework formed by the frame body and the mounting plate, a fixing plate is arranged on one side of the second motor, a parallel sliding block and sliding rod mechanism and a lead screw are arranged on the fixing plate, and the output end of the second motor is connected with one end of the lead screw.
The grabbing device comprises a rolling shaft, a screw rod, a connecting block, a lifting rod, a gripper, a camera and a light supplementing lamp; the grabbing device comprises a roller, the roller is arranged on the lead screw, a connecting block is arranged on the roller, the connecting block is connected to the sliding block sliding rod mechanism, the connecting block is connected with the lifting rod, the end of the lifting rod is provided with a gripper, a camera is arranged in the middle of the gripper, and a light supplementing lamp is arranged on the side face of the gripper.
Has the advantages that: compared with the prior art, the utility model has the advantages of it is following: the utility model discloses to the volume of letter sorting thing, through changing the height of slide mechanism, the position of camera is set to adjustable, has increased the letter sorting scope of letter sorting robot, has improved the rate of accuracy and the letter sorting efficiency of discernment; when an article with small volume is grabbed, the stroke of the grabbing end is shortened, and unnecessary electric energy consumption is saved; in addition, the gravity sensor is arranged to acquire the quality information of the object, so that the phenomenon that the object is grabbed overweight is avoided, and the generation of extra cost is avoided.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the internal structure of the control box of the present invention;
fig. 3 is a schematic view of a partially enlarged structure of the gripping device of the present invention;
fig. 4 is a schematic bottom view of the gripping device of the present invention.
Wherein, labeled in fig. 1 to 4: the device comprises a control box shell 1, a storage battery 2, a control main board 3, a cooling fan 4, an alarm 5, a placing board 6, a gravity sensor 7, a power supply interface 8, a first motor 9, a frame body 10, a bearing 11, a fixing rod 12, a mounting board 13, a light supplementing lamp 14, a second motor 15, a fixing board 16, a slider and slide rod mechanism 17, a screw rod 18, a rolling shaft 19, a connecting block 20, a lifting rod 21, a hand grip 22 and a camera 23.
Detailed Description
As shown in fig. 1 to 4, a visual sorting robot with adjustable recognition height includes: a control box housing 1 for protecting the core component mainboard; a storage battery 2 for supplying energy to the whole device is arranged in the control box shell; a control main board 3 for analyzing the color image of the workpiece is arranged in the control box; a cooling fan 4 for reducing the temperature of the control mainboard is arranged in the control box; the inside siren 5 that is equipped with suggestion staff's device situation of control box, two kinds of alarms set up: the method comprises the following steps of (1) the workpiece is too heavy to be grabbed, and (2) the machine fails; a workpiece placing plate 6 is arranged right above the control box shell and used for placing a current workpiece to be identified; a gravity sensor 7 is connected below the placing plate to measure the weight of the current workpiece; a power interface 8 is arranged on the side surface of the control box shell; a first motor 9 on the upper left of the control box housing; the first motor is connected with the frame body 10; a liftable fixed rod 12 is arranged in the frame body; at least three groups of mounting plates 13 are arranged on the fixing rod 12 at intervals, a second motor 15 is arranged on the mounting plates 13 and the frame body 10, a fixing plate 16 is arranged on one side of the second motor 15, the fixing plate 16 is arranged on one side of the frame body 10, a parallel slider slide bar mechanism 17 and a parallel lead screw 18 are arranged on the fixing plate 16, the output end of the second motor 15 is connected with one end of the lead screw 18, a roller 19 is arranged on the lead screw 18, the other end of the lead screw 18 is arranged on the bearing 11, a connecting block 20 is arranged on the roller 19, the connecting block 20 is connected on the slider slide bar mechanism 17, the connecting block 20 is connected with a lifting rod 21, a gripper 22 is arranged at the end of the lifting rod 21, a camera 23 is arranged in the middle of the gripper 22, and a light supplement lamp 14 is arranged on the side face of the gripper. The recognizer shoots the workpiece image shot by the camera 23 and rapidly transmits the image to the control main board 3 in the control box shell 1 for analysis and recognition, and then sends out a corresponding action command to control the whole device to finish the workpiece sorting work. The light supplement lamp 14 on the side face of the hand grip 22 provides a bright environment for the camera 23, so that the recognition accuracy in the daytime is improved, and the device can still work normally at night. The height of the fixing plate 16 and the recognition height of the camera 23 can be adjusted by the fixing rod 12 inside the frame body 10, and a bayonet 13 is connected to the side of the fixing rod 12 for supporting and fixing the fixing plate 16. The first motor 9 capable of adjusting the rotation angle of the gripper 22 is connected to the lower part of the frame body 10, so that the gripper 22 can place the workpiece into the box body or on the crawler belt corresponding to the two sides.
A gravity sensor 7 is arranged between the control box shell 1 and the placing plate 6 and used for measuring the weight of the current workpiece, so that the machine can distinguish workpieces with different weights, and in addition, the phenomenon that the machine cannot be grabbed and is always in invalid work due to the fact that the workpiece is too heavy can be prevented.
A control mainboard 3 is arranged in a control box shell 1 and used for analyzing the collected workpiece images and a storage battery 2, supplying power to the control mainboard 3, reducing the temperature of the control mainboard 3 by a cooling fan 4 and reminding workers that the machine does not work normally by an alarm 5 connected with the control mainboard 3, so that the reduction of the working effect and the additional cost are avoided; the utility model discloses in, the method of control mainboard 3 control electrical component can refer to chinese patent "an electronic equipment autoalarm outage device" that patent number is CN 2015107210749.
The working process is as follows: workpiece scanning, the robot utilizes the camera 23 of tongs bottom, and the effect of cooperation light filling lamp 14 can be scanned the shooting to the work piece on placing the board 6, obtains the work piece surface texture image of high definition, and scanning work is high-efficient and clear. The work piece weight measuring, through the weight of placing the current work piece of measurement between board and the control box shell, the weight count that will obtain transmits and carries out weight analysis for control mainboard 3, can realize classifying the work piece under the different weight. And (3) sorting the workpieces, analyzing the received workpiece images and the weight counts through the control main board 3, then sending out related action instructions, firstly controlling the gripping device to grip the workpieces, and then controlling the first motor 9 to place the gripped workpieces in the corresponding box body or on the crawler belt. The alarm warns, through the analysis of control mainboard to work piece weight and machine operating condition's detection, sends the warning to the staff when necessary, reminds the staff to adjust the operating condition of machine, avoids producing extra cost, damages the machine even, the utility model discloses in the method of controlling other parts of mainboard 3, can refer to chinese patent "robot operation method, controller and robot system" that patent number is CN 2018105278134. The height is discerned in the adjustment, through the height of the inside dead lever 12 adjustment fixed plate 16 of support body 10, reduces because of the cost that lifter 21 reciprocated and produced, and suitable shooting distance makes camera 23 can acquire more clear work piece image simultaneously, improves the letter sorting rate of accuracy of machine.
Claims (5)
1. A visual sorting robot with adjustable recognition height comprises a control box shell (1), a frame body (10), a sliding device and a grabbing device; a rack body (10) is connected to the control box shell (1) in a transmission manner, a sliding device is mounted on the rack body (10), and a grabbing device is connected to the sliding device; the device is characterized in that a gravity sensor (7) is arranged on the control box shell (1), and a workpiece placing plate (6) is arranged on the gravity sensor (7); the frame body (10) is internally provided with a fixed rod (12), the fixed rod (12) is provided with mounting plates (13) at intervals, and the mounting plates (13) penetrate out of the frame body (10) and are used for mounting the sliding device.
2. The visual sorting robot with adjustable recognition height according to claim 1, characterized in that the control box housing (1) is internally provided with a control main board (3), a storage battery (2), a heat radiation fan (4) and an alarm (5); the control main board (3) is respectively connected with the storage battery (2), the cooling fan (4), the alarm (5) and the gravity sensor (7) through electric wires.
3. The visual sorting robot with the adjustable recognition height according to claim 1, wherein a first motor (9) is arranged on the control box housing (1), and an output end of the first motor (9) is connected with the frame body (10).
4. An adjustable recognition height visual sorting robot according to claim 1, wherein the sliding means comprises a second motor (15), a fixed plate (16), a slider-slide bar mechanism (17), a lead screw (18); the second motor (15) is arranged on a vertical framework formed by the frame body (10) and the mounting plate (13), a fixing plate (16) is arranged on one side of the second motor (15), a parallel sliding block and sliding rod mechanism (17) and a screw rod (18) are arranged on the fixing plate (16), and the output end of the second motor (15) is connected with one end of the screw rod (18).
5. The visual sorting robot with the adjustable recognition height according to claim 4, wherein the gripping device comprises a roller (19), a screw rod (18), a connecting block (20), a lifting rod (21), a gripper (22), a camera (23) and a light supplement lamp (14); the roller (19) is installed on the screw rod (18), a connecting block (20) is arranged on the roller (19), the connecting block (20) is connected to the slider slide rod mechanism (17), the connecting block (20) is connected with the lifting rod (21), a gripper (22) is installed at the end of the lifting rod (21), a camera (23) is installed in the middle of the gripper (22), and a light supplement lamp (14) is arranged on the side face of the gripper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222310240.4U CN217963594U (en) | 2022-08-31 | 2022-08-31 | Visual sorting robot with adjustable recognition height |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222310240.4U CN217963594U (en) | 2022-08-31 | 2022-08-31 | Visual sorting robot with adjustable recognition height |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217963594U true CN217963594U (en) | 2022-12-06 |
Family
ID=84263030
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222310240.4U Active CN217963594U (en) | 2022-08-31 | 2022-08-31 | Visual sorting robot with adjustable recognition height |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217963594U (en) |
-
2022
- 2022-08-31 CN CN202222310240.4U patent/CN217963594U/en active Active
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