CN220279032U - Feeding and discharging equipment based on 3D vision for mechanical arm - Google Patents

Abstract

The utility model discloses a 3D vision-based mechanical arm feeding and discharging device which comprises a base, wherein the bottom of the base is slidably connected with a sliding plate, a rotating shaft is rotatably connected inside the sliding plate, gears are fixedly connected to two ends of the rotating shaft, racks are meshed and connected to the surfaces of the gears, a first motor is arranged on the side face of the sliding plate, a connecting block is rotatably connected to the surface of the rotating shaft, and a fixed plate is fixedly connected inside the connecting block.

Description

Feeding and discharging equipment based on 3D vision for mechanical arm

Technical Field

The utility model relates to the technical field of feeding and discharging of a machine tool, in particular to feeding and discharging equipment of a mechanical arm based on 3D vision.

Background

At present, the feeding and discharging operation of the machine tool is mainly finished by manpower, the work is monotonous and heavy, no technical content exists, young people are unwilling to do the work, so that more and more factories are wasted in labor, automatic feeding and discharging equipment is widely applied to feeding and discharging procedures of various machine tools in order to solve the problem, and the mode has a certain competitive advantage for single workpiece or simply shaped workpiece.

However, some mechanical arm loading and unloading equipment based on 3D vision is comparatively fixed when using, can not remove, and the effect is relatively poor when using, needs artifical transport one by one, and intensity of labour is big, leads to the problem of inefficiency.

Accordingly, in view of the above, researches and improvements are made to the existing defects of the structure, and a 3D vision-based mechanical arm loading and unloading device is provided.

Disclosure of Invention

The utility model aims to provide a 3D vision-based mechanical arm feeding and discharging device, which solves the problems that the device provided in the background art is relatively fixed and cannot move, has poor effect in use, needs to be manually carried one by one, has high labor intensity and reduces efficiency.

In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a unloading equipment on arm based on 3D vision, includes the base, base bottom sliding connection has the slide, the inside swivelling joint of slide has the rotation axis, rotation axis both ends fixedly connected with gear, gear surface meshing is connected with the rack, the slide side is equipped with first motor, rotation axis surface swivelling joint has the connecting block.

Preferably, the inside fixedly connected with fixed plate of connecting block, the inside threaded connection of fixed plate has the threaded rod, threaded rod fixedly connected with movable block, the connecting block side is equipped with the second motor, the inside fixedly connected with dwang of movable block, dwang surface swivelling joint has the connecting rod, connecting rod afterbody swivelling joint has the connecting plate, connecting plate top both sides fixedly connected with telescopic link, connecting plate bottom fixedly connected with arm claw is whole, arm claw integral surface is equipped with D vision detection device.

Preferably, a chute is arranged in the base, the chute is arranged in a T shape, and the sliding plate is embedded into the chute and is in sliding connection with the chute.

Preferably, the gear is fixedly connected to a rotation center point of the rotating shaft, and the connecting block is meshed with the rack through the gear to form a moving mechanism.

Preferably, two groups of thread grooves with opposite rotation directions are formed in the surface of the threaded rod, and the moving block is symmetrically provided with two groups of thread grooves about the middle point of the threaded rod.

Preferably, both ends and the central point of the connecting rod are provided with rotating rods.

Preferably, the connecting plate enables the two groups of moving blocks to reversely move through rotating the threaded rod to pull the connecting rod to form the lifting structure.

Compared with the prior art, the utility model has the beneficial effects that:

1. according to the utility model, the first motor is arranged, the first motor is started to drive the rotating shaft to rotate, so that the gear and the rack are meshed to drive the sliding plate to slide along the inside of the sliding groove arranged at the bottom of the base, meanwhile, the connecting block moves along the bottom of the base, and meanwhile, the required objects integrally clamped by the D vision detection device and the mechanical arm claw also move together, so that the position with a longer feeding and discharging distance can be conveniently moved and placed, and the working efficiency is improved;

2. according to the utility model, the second motor is opened, the output end of the second motor is connected with the threaded rod, two groups of thread grooves with opposite rotation directions are formed in the surface of the threaded rod, and the moving blocks are symmetrically arranged about the middle point of the threaded rod, so that the second motor is opened to drive the threaded rod to rotate, and the two groups of moving blocks move towards the center point simultaneously.

Drawings

Fig. 1 is a schematic diagram of the overall structure of a feeding and discharging device of a mechanical arm based on 3D vision;

fig. 2 is a schematic diagram of a second motor structure of a feeding and discharging device of a mechanical arm based on 3D vision;

fig. 3 is a schematic diagram of a gear structure of a feeding and discharging device of a mechanical arm based on 3D vision;

fig. 4 is a schematic structural view of a threaded rod of a feeding and discharging device of a mechanical arm based on 3D vision.

In the figure: 1. a base; 2. a slide plate; 3. a rotation shaft; 4. a gear; 5. a rack; 6. a first motor; 7. a connecting block; 8. a fixing plate; 9. a threaded rod; 10. a moving block; 11. a second motor; 12. a rotating lever; 13. a connecting rod; 14. a connecting plate; 15. a telescopic rod; 16. the whole mechanical arm claw; 17. 3D visual inspection device.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Example 1

As shown in figures 1-3, a feeding and discharging equipment based on 3D vision is provided, the feeding and discharging equipment comprises a base 1, sliding plates 2 are slidably connected to the bottom of the base 1, a rotating shaft 3 is rotatably connected to the inner portion of the sliding plates 2, gears 4 are fixedly connected to the two ends of the rotating shaft 3, racks 5 are connected to the surfaces of the gears 4 in a meshed mode, a first motor 6 is arranged on the side face of the sliding plates 2, connecting blocks 7 are rotatably connected to the surfaces of the rotating shaft 3, during operation, the first motor 6 is arranged, the gears 4 and the racks 5 are meshed to drive the sliding plates 2 to slide along the inside of a sliding groove arranged at the bottom of the base 1, meanwhile, the connecting blocks 7 move along the bottom of the base 1, at the moment, required objects clamped by a 3D vision detection device 17 and a mechanical arm claw whole 16 can also move together, the positions with longer feeding and discharging distances can be conveniently moved and placed, and working efficiency is improved.

Further, the inside spout that is equipped with of base 1, spout are "T" shape setting, and slide 2 imbeds into the spout and rather than sliding connection, during operation, is favorable to gear 4 and rack 5 meshing to drive slide 2 to slide along the spout inside that is equipped with of base 1 bottom.

Further, the gear 4 is fixedly connected to the rotation center point of the rotation shaft 3, the connecting block 7 is meshed with the rack 5 through the gear 4 to form a moving mechanism, when the device is in work, the rotation of the rotation shaft 3 is facilitated, the gear 4 and the rack 5 are meshed to drive the connecting block 7 to move along the bottom of the base 1, at the moment, a required object clamped by the 3D visual detection device 17 and the mechanical arm claw whole 16 can also move together, the device is convenient to move and place a position with a longer feeding and discharging distance, and the working efficiency is improved.

Example two

As shown in fig. 1-4, in comparative example one, as another embodiment of the present utility model, a fixed plate 8 is fixedly connected inside a connecting block 7, a threaded rod 9 is connected inside the fixed plate 8 in a threaded manner, a moving block 10 is fixedly connected to the surface of the threaded rod 9, a second motor 11 is arranged on the side surface of the connecting block 7, a rotating rod 12 is fixedly connected inside the moving block 10, a connecting rod 13 is rotatably connected to the surface of the rotating rod 12, a connecting plate 14 is rotatably connected to the tail of the connecting rod 13, telescopic rods 15 are fixedly connected to the two sides of the top of the connecting plate 14, a mechanical arm claw whole 16 is fixedly connected to the bottom of the connecting plate 14, a 3D visual detection device 17 is arranged on the surface of the mechanical arm claw whole 16, in operation, by arranging the second motor 11, since the output end of the second motor 11 is connected with a threaded rod 9, and two sets of thread grooves with opposite rotation directions are arranged on the surface of the threaded rod 9, the two groups of moving blocks 10 are symmetrically arranged about the middle point of the threaded rod 9, so that the second motor 11 is turned on to drive the threaded rod 9 to rotate, so that the two groups of moving blocks 10 simultaneously move towards the center point, because the rotating rods 12 are arranged at the two ends and the center inside of the connecting rod 13, the moving blocks 10 apply a pulling force to the connecting rod 13 connected with the rotating rods 12, the connecting rod 13 is driven to stretch out and draw back, the connecting plate 14 moves downwards, meanwhile, the telescopic rod 15 moves, the 3D visual detection device 17 and the mechanical arm claw whole 16 are driven to move downwards at the moment, the height of the equipment is reduced, workers can easily contact the equipment, the equipment is detected and maintained, when the maintenance is finished, the second motor 11 is turned on, the threaded rod 9 is rotated to drive the moving blocks 10 to move towards the two ends, the connecting rod 13 stretches out and draws back upwards, and the mechanical arm claw whole 16 is reset, and is convenient for continuing to work.

Further, two groups of thread grooves with opposite rotation directions are formed in the surface of the threaded rod 9, two groups of moving blocks 10 are symmetrically arranged on the middle point of the threaded rod 9, and when the device works, the second motor 11 is beneficial to driving the threaded rod 9 to rotate, so that the two groups of moving blocks 10 move towards the center point simultaneously.

Further, the rotating rods 12 are arranged at the two ends and the center point of the connecting rod 13, so that when the movable block 10 works, the movable block is beneficial to applying tension to the connecting rod 13 connected with the rotating rods 12, and the connecting rod 13 is driven to stretch and retract to enable the connecting plate 14 to move downwards.

Further, the connecting plate 14 makes the two sets of moving blocks 10 move reversely through rotating the threaded rod 9 to pull the connecting rod 13 to form a lifting structure, when the lifting structure works, the threaded rod 9 is favorable for rotating to make the two sets of moving blocks 10 move towards the center point simultaneously, and then the connecting rod 13 connected with the rotating rod 12 is pulled through the moving blocks 10 to drive the connecting rod 13 to stretch and retract to enable the connecting plate 14 to lift.

Working principle: when the mechanical arm loading and unloading equipment based on 3D vision is used, firstly, the 3D vision detection device 17 is used for detecting and analyzing the current environment, the mechanical arm claw whole 16 can rapidly and accurately clamp a required object, then the first motor 6 is opened, the first motor 6 is opened to drive the rotating shaft 3 to rotate, the gear 4 is meshed with the rack 5 to drive the sliding plate 2 to slide along the inside of the sliding groove arranged at the bottom of the base 1, meanwhile, the connecting block 7 moves along the bottom of the base 1, at the moment, the required object clamped by the 3D vision detection device 17 and the mechanical arm claw whole 16 can also move together, the position with a longer loading and unloading distance can be conveniently moved and placed, and the working efficiency is improved.

Then, through opening second motor 11, because second motor 11 output connection threaded rod 9, and the surface of threaded rod 9 is provided with two sets of screw grooves that revolve to opposite directions, and movable block 10 is provided with two sets of about the midpoint symmetry of threaded rod 9, so open second motor 11 and drive threaded rod 9 rotation, thereby make two sets of movable block 10 remove to the central point simultaneously, because connecting rod 13 both ends and the inside dwang 12 that all is equipped with in center, so exert pulling force through movable block 10 to the connecting rod 13 that is connected with dwang 12, drive connecting rod 13 and stretch out and draw back and make connecting plate 14 move downwards, telescopic link 15 motion simultaneously, can drive 3D vision detection device 17 and arm claw whole 16 simultaneously move downwards, the height of this equipment has been reduced, be convenient for the staff to easily contact this equipment, detect and maintain this equipment, when the maintenance is accomplished, can be through opening second motor 11, make 9 rotate and drive movable block 10 to both ends, make connecting rod 13 upwards stretch out and draw back and make its arm claw whole 16 reset, be convenient for continue to work, this is the theory of operation of this kind of arm loading and unloading equipment based on 3D vision.

The embodiments of the utility model have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the utility model in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments were chosen and described in order to best explain the principles of the utility model and the practical application, and to enable others of ordinary skill in the art to understand the utility model for various embodiments with various modifications as are suited to the particular use contemplated.

Claims (7)

1. The utility model provides a unloading equipment on arm based on 3D vision, includes base (1), its characterized in that, base (1) bottom sliding connection has slide (2), inside swivelling joint of slide (2) has rotation axis (3), rotation axis (3) both ends fixedly connected with gear (4), gear (4) surface engagement is connected with rack (5), slide (2) side is equipped with first motor (6), rotation axis (3) surface swivelling joint has connecting block (7).

2. The 3D vision-based mechanical arm loading and unloading device according to claim 1, wherein: connecting block (7) inside fixedly connected with fixed plate (8), the inside threaded connection of fixed plate (8) has threaded rod (9), threaded rod (9) fixedly connected with movable block (10), connecting block (7) side is equipped with second motor (11), movable block (10) inside fixedly connected with dwang (12), dwang (12) surface swivelling joint has connecting rod (13), connecting rod (13) afterbody swivelling joint has connecting plate (14), connecting plate (14) top both sides fixedly connected with telescopic link (15), connecting plate (14) bottom fixedly connected with arm claw is whole (16), arm claw is whole (16) surface is equipped with 3D visual inspection device (17).

3. The 3D vision-based mechanical arm loading and unloading device according to claim 1, wherein: the base (1) is internally provided with a chute which is in a T-shaped arrangement, and the sliding plate (2) is embedded into the chute and is in sliding connection with the chute.

4. The 3D vision-based mechanical arm loading and unloading device according to claim 1, wherein: the gear (4) is fixedly connected to the rotation center point of the rotation shaft (3), and the connecting block (7) is meshed with the rack (5) through the gear (4) to form a moving mechanism.

5. The 3D vision-based mechanical arm loading and unloading device according to claim 2, wherein: two groups of thread grooves with opposite rotation directions are formed in the surface of the threaded rod (9), and two groups of moving blocks (10) are symmetrically arranged on the middle point of the threaded rod (9).

6. The 3D vision-based mechanical arm loading and unloading device according to claim 2, wherein: both ends and the central point of the connecting rod (13) are provided with rotating rods (12).

7. The 3D vision-based mechanical arm loading and unloading device according to claim 2, wherein: the connecting plates (14) enable the two groups of moving blocks (10) to reversely move through the rotating threaded rods (9) to pull the connecting rods (13) to form a lifting structure.