CN220548289U - Automatic arrangement robot of degree of depth vision based on ROS - Google Patents
Automatic arrangement robot of degree of depth vision based on ROS Download PDFInfo
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- CN220548289U CN220548289U CN202321305247.5U CN202321305247U CN220548289U CN 220548289 U CN220548289 U CN 220548289U CN 202321305247 U CN202321305247 U CN 202321305247U CN 220548289 U CN220548289 U CN 220548289U
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Abstract
The utility model relates to the technical field of automatic arrangement robots, in particular to a depth vision automatic arrangement robot based on ROS, which comprises a robot body and an installation assembly; the installation component includes installation piece, the supporting shoe, the fixed block, actuating member and rotating member, installation piece fixed mounting is in one side of robot body, actuating member sets up on the installation piece, the supporting shoe is connected with actuating member, the fixed block rotates with the supporting shoe to be located one side that the installation piece was kept away from to the supporting shoe, rotating member is connected with the supporting shoe, and be connected with the fixed block, remove through two supporting shoes of actuating member drive, the supporting shoe drives the fixed block and removes, the fixed block butt is in the both sides of camera, install the camera on the fixed block, rotating member drive fixed block rotates on the supporting shoe, the fixed block drives the camera and rotates, make and be convenient for change fixedly to the camera, thereby improve automatic arrangement robot's result of use.
Description
Technical Field
The utility model relates to the technical field of automatic arrangement robots, in particular to a depth vision automatic arrangement robot based on ROS.
Background
In recent years, the sorting and classifying of articles in China is attracting attention, and a lot of provinces and areas in China are carrying out garbage sorting systems, and a camera of a common automatic sorting robot can only adjust shooting positions during working and cannot adjust shooting angles of the camera, so that shooting effects of the automatic sorting robot are affected.
Prior art CN214870629U discloses a depth vision automatic arrangement robot based on ROS, including first servo motor, the gear shaft, the second bearing, first driving gear, first driven gear, the telescopic boom, first bearing, the degree of depth camera, the second servo motor, second driving gear, second driven gear and pivot, first servo motor work drives the gear shaft and rotates under the cooperation of second bearing, gear shaft rotation drives first driving gear rotation, first driving gear rotation drives the rotation of the first driven gear that is connected with it meshing, the rotation of first driven gear drives the telescopic boom and rotates under the cooperation of first bearing, the telescopic boom rotates and drives the degree of depth camera of installing on it and rotate, camera fixed mounting is in the pivot simultaneously, the second servo motor work drives the second driving gear rotation, the second driving gear rotation drives the second driven gear rotation that is connected with it meshing, the second driven gear rotation drives the pivot rotation and drives the degree of depth camera for adjust the shooting angle of camera, thereby improve automatic arrangement robot's shooting effect.
When normal use, because camera fixed mounting is in the pivot, damage appears in the camera or when changing the camera in long-time use, the inconvenient camera of prior art is changed fixedly to influence the result of use of automatic arrangement robot.
Disclosure of Invention
The utility model aims to provide a depth vision automatic arrangement robot based on ROS, which solves the problem that the prior art is inconvenient to replace and fix a camera when the camera is damaged or replaced in long-time use due to the fact that the camera is fixedly arranged on a rotating shaft, so that the use effect of the automatic arrangement robot is affected.
In order to achieve the above object, the present utility model provides a ROS-based depth vision finishing robot, comprising a robot body and a mounting assembly; the installation assembly comprises an installation block, a supporting block, a fixed block, a driving member and a rotating member, wherein the installation block is fixedly installed on one side of the robot body, the driving member is arranged on the installation block, the supporting block is connected with the driving member, the fixed block is rotationally connected with the supporting block and is located on one side, far away from the installation block, of the supporting block, and the rotating member is connected with the supporting block and is connected with the fixed block.
The rotating member comprises a rotating motor and a mounting frame, wherein the mounting frame is fixedly connected with the supporting block and is positioned at one side of the supporting block, which is close to the fixed block; the rotating motor is fixedly connected with the mounting frame,
the driving component comprises a driving guide rail, a driving block and a power part, wherein the driving guide rail is fixedly connected with the mounting block and is positioned at one side of the mounting block away from the robot body; the driving block is in sliding connection with the driving guide rail and is fixedly connected with the supporting block; the power component is connected with the driving block and the driving guide rail.
The power component comprises a rotating block and a power screw rod, and the power screw rod is in threaded connection with the supporting block and is in rotary connection with the driving guide rail; the rotating block is fixedly connected with the power screw rod and is positioned at one side of the power screw rod away from the supporting block.
The mounting assembly further comprises a stabilizing screw rod and a stabilizing cylinder, wherein the stabilizing cylinder is fixedly connected with the rotating block and is positioned at one side of the rotating block, which is close to the power screw rod; the stabilizing screw is in threaded connection with the stabilizing cylinder and is positioned on one side of the stabilizing cylinder away from the power screw.
According to the ROS-based depth vision automatic arrangement robot, the rotating block is rotated to drive the power screw to rotate on the driving guide rail, the driving screw drives the two driving blocks to move on the driving guide rail and drives the two supporting blocks to move, the supporting blocks drive the fixed blocks to move, the fixed blocks are driven to abut against two sides of a camera, the camera is mounted on the fixed blocks, the rotating motor drives the fixed blocks to rotate on the supporting blocks, and the fixed blocks drive the camera to rotate, so that the camera is convenient to replace and fix, and the use effect of the automatic arrangement robot is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.
Fig. 1 is a schematic diagram of the overall architecture of a ROS-based depth vision finishing robot according to a first embodiment of the present utility model.
Fig. 2 is a schematic view of the structure of the driving block and the power screw of the present utility model.
Fig. 3 is a schematic view showing the overall structure of a ROS-based depth vision finishing robot according to a second embodiment of the present utility model.
In the figure: 101-robot body, 102-installation piece, 103-supporting shoe, 104-fixed block, 105-rotating motor, 106-mounting bracket, 107-drive guide rail, 108-driving block, 109-rotating block, 110-power screw, 201-stabilizing screw, 202-stabilizing cylinder.
Detailed Description
The following detailed description of embodiments of the utility model, examples of which are illustrated in the accompanying drawings and, by way of example, are intended to be illustrative, and not to be construed as limiting, of the utility model.
The first embodiment of the application is as follows:
referring to fig. 1 and 2, fig. 1 is a schematic view of the overall architecture of a ROS-based depth vision finishing robot according to a first embodiment of the present utility model, and fig. 2 is a schematic view of the structure of a driving block and a power screw of the present utility model, the present utility model provides a ROS-based depth vision finishing robot, which includes a robot body 101 and a mounting assembly; the installation component includes installation piece 102, supporting shoe 103, fixed block 104, drive component and rotation component, rotation component includes rotation motor 105 and mounting bracket 106, drive component includes drive rail 107, drive piece 108 and power unit, power unit includes turning block 109 and power screw 110, and it is fixed to change the camera inconvenient to have solved prior art through the aforesaid scheme to influence the problem of automatic arrangement robot result of use, can understand that the aforesaid scheme can be used because camera fixed mounting is in the pivot, the circumstances when the damage appears or change the camera in long-time use.
For this concrete implementation, through driving member drive two supporting shoe 103 removes, supporting shoe 103 drives fixed block 104 removes, drives fixed block 104 butt is in the both sides of camera, installs the camera on fixed block 104, the rotation member drive fixed block 104 rotates on supporting shoe 103, fixed block 104 drives the camera rotates for be convenient for change fixedly to the camera, thereby improve automatic arrangement robot's result of use.
The mounting block 102 is fixedly mounted on one side of the robot body 101, the driving member is arranged on the mounting block 102, the supporting block 103 is connected with the driving member, the fixing block 104 is connected with the supporting block 103 in a rotating mode and is located on one side, away from the mounting block 102, of the supporting block 103, the rotating member is connected with the supporting block 103 and is connected with the fixing block 104, the robot body 101 is identical to a structure in a ROS-based deep vision automatic arrangement robot with the technology CN214870629U, the mounting block 102 is fixedly mounted on the top of the robot body 101, through holes are formed in the side face of the mounting block 102, through holes are formed in the side face top of the supporting block 103, two supporting blocks 103 are arranged on the side face of the supporting block 103, a cylinder with a rotating groove is formed in the outer side of the fixing block 104, the rotating groove of the fixing block 104 is formed in the through holes of the supporting block 103, the driving member is connected with the bottom of the fixing block 104, the driving member is connected with the two supporting blocks 103, the driving block 103 drives the two supporting blocks 104 to rotate, and the driving member is connected with the two supporting blocks 104, and the driving member 104 is connected with the two driving blocks 104, and the driving member 104 are driven by the driving block 104 to rotate, and the two driving members are connected with the two driving blocks 104.
Secondly, the mounting rack 106 is fixedly connected with the supporting block 103 and is positioned at one side of the supporting block 103 close to the fixed block 104; the rotation motor 105 with mounting bracket 106 fixed connection, the output shaft of rotation motor 105 with fixed block 104 is connected, mounting bracket 106 is the U-shaped, mounting bracket 106 fixed mounting is in the right side top of bracing piece, the closed end design of mounting bracket 106 has the through-hole, the output of rotation motor 105 passes through the through-hole of the closed end of mounting bracket 106 with fixed block 104's right-hand member fixed connection, through rotation motor 105 drive fixed block 104 is in rotate on the supporting shoe 103 to realize driving the camera and rotate.
Then, the driving guide rail 107 is fixedly connected with the mounting block 102, and is located at a side of the mounting block 102 away from the robot body 101; the driving block 108 is slidably connected with the driving guide rail 107 and fixedly connected with the supporting block 103; the power component is connected with the driving block 108 and is connected with the driving guide rail 107, the driving guide rail 107 is a cuboid with a groove at the top, a through hole is designed at the end part of the driving guide rail 107, the driving block 108 is a cuboid with a through thread at the side surface, the top of the driving block 108 is fixedly connected with the bottom of the supporting block 103, the number of the driving blocks 108 is two, the power component is connected with two through threaded holes of the driving block 108 through the through hole of the driving guide rail 107, the driving blocks 108 move on the groove of the driving block 108, and the driving block 108 is driven to move on the driving guide rail 107 through the power component, so that the driving block 108 drives the supporting block 103 to move.
Finally, the power screw 110 is in threaded connection with the supporting block 103 and is in rotational connection with the driving guide rail 107; the rotating block 109 is fixedly connected with the power screw 110, and is located on one side, away from the supporting block 103, of the power screw 110, the power screw 110 is connected with the through threads of the driving block 108 through the through hole of the driving guide rail 107, the left side of the rotating block 109 is fixedly connected with the left end of the power screw 110, the rotating block 109 is rotated to drive the power screw 110 to rotate on the driving guide rail 107, and the driving screw drives the driving block 108 to move on the driving guide rail 107, so that the driving block 108 is driven to move.
When the ROS-based depth vision automatic arrangement robot is used, the rotating block 109 is rotated to drive the power screw 110 to rotate on the driving guide rail 107, the driving screw drives the two driving blocks 108 to move on the driving guide rail 107 and drive the two supporting blocks 103 to move, the supporting blocks 103 drive the fixed blocks 104 to move, the fixed blocks 104 are driven to abut against two sides of a camera, the camera is mounted on the fixed blocks 104, the rotating motor 105 drives the fixed blocks 104 to rotate on the supporting blocks 103, and the fixed blocks 104 drive the camera to rotate, so that the camera is convenient to replace and fix, and the use effect of the automatic arrangement robot is improved.
The second embodiment of the present application is:
referring to fig. 3, fig. 3 is a schematic view showing the overall structure of a ROS-based depth vision finishing robot according to a second embodiment of the present utility model, and the mounting assembly of the present embodiment further includes a stabilizing screw 201 and a stabilizing cylinder 202 on the basis of the first embodiment.
For the present embodiment, the stabilizing screw 201 is rotated to drive the stabilizing screw 201 to abut against the driving rail 107, so as to fix the position angle of the rotating block 109.
Wherein, the stabilizing cylinder 202 is fixedly connected with the rotating block 109 and is positioned at one side of the rotating block 109 close to the power screw 110; the stabilizing screw 201 is in threaded connection with the stabilizing barrel 202, and is located on one side, far away from the power screw 110, of the stabilizing barrel 202, a through hole is designed on the left side of the rotating block 109, the stabilizing barrel 202 is a cylinder with a through threaded hole designed on the end portion, the stabilizing barrel 202 is fixedly installed on the through hole of the rotating block 109, the stabilizing screw 201 is connected with the stabilizing barrel 202 through the through threaded hole of the stabilizing barrel 202, and the stabilizing screw 201 is driven to be abutted to the driving guide rail 107 through rotation of the stabilizing screw 201, so that the position angle of the rotating block 109 is fixed.
When the ROS-based depth vision automatic arrangement robot is used, the stabilizing screw 201 is rotated, and the stabilizing screw 201 is driven to be abutted on the driving guide rail 107, so that the position angle of the rotating block 109 is fixed.
The foregoing disclosure is only illustrative of one or more preferred embodiments of the present application and is not intended to limit the scope of the claims hereof, as it is to be understood by those skilled in the art that all or part of the process of implementing the described embodiment may be practiced otherwise than as specifically described and illustrated by the appended claims.
Claims (5)
1. The deep vision automatic arrangement robot based on the ROS comprises a robot body and is characterized in that,
the device also comprises a mounting assembly;
the installation assembly comprises an installation block, a supporting block, a fixed block, a driving member and a rotating member, wherein the installation block is fixedly installed on one side of the robot body, the driving member is arranged on the installation block, the supporting block is connected with the driving member, the fixed block is rotationally connected with the supporting block and is located on one side, far away from the installation block, of the supporting block, and the rotating member is connected with the supporting block and is connected with the fixed block.
2. The ROS-based depth vision finishing robot of claim 1,
the rotating member comprises a rotating motor and a mounting frame, and the mounting frame is fixedly connected with the supporting block and is positioned at one side of the supporting block, which is close to the fixed block; the rotating motor is fixedly connected with the mounting frame, and an output shaft of the rotating motor is connected with the fixing block.
3. The ROS-based depth vision finishing robot of claim 1,
the driving component comprises a driving guide rail, a driving block and a power part, wherein the driving guide rail is fixedly connected with the mounting block and is positioned at one side of the mounting block away from the robot body; the driving block is in sliding connection with the driving guide rail and is fixedly connected with the supporting block; the power component is connected with the driving block and the driving guide rail.
4. The ROS-based deep vision finishing robot of claim 3,
the power component comprises a rotating block and a power screw rod, and the power screw rod is in threaded connection with the supporting block and is in rotary connection with the driving guide rail; the rotating block is fixedly connected with the power screw rod and is positioned at one side of the power screw rod away from the supporting block.
5. The ROS-based deep vision finishing robot of claim 4,
the mounting assembly further comprises a stabilizing screw rod and a stabilizing cylinder, wherein the stabilizing cylinder is fixedly connected with the rotating block and is positioned at one side of the rotating block, which is close to the power screw rod; the stabilizing screw is in threaded connection with the stabilizing cylinder and is positioned on one side of the stabilizing cylinder away from the power screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321305247.5U CN220548289U (en) | 2023-05-26 | 2023-05-26 | Automatic arrangement robot of degree of depth vision based on ROS |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321305247.5U CN220548289U (en) | 2023-05-26 | 2023-05-26 | Automatic arrangement robot of degree of depth vision based on ROS |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220548289U true CN220548289U (en) | 2024-03-01 |
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ID=90004651
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321305247.5U Active CN220548289U (en) | 2023-05-26 | 2023-05-26 | Automatic arrangement robot of degree of depth vision based on ROS |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220548289U (en) |
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2023
- 2023-05-26 CN CN202321305247.5U patent/CN220548289U/en active Active
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