CN220660860U - Mechanical arm with vision movement function - Google Patents

Abstract

The utility model relates to the technical field of sorting, in particular to a mechanical arm with a visual movement function, which comprises a multi-joint mechanical arm body, wherein a joint connector is rotatably arranged at the upper left side of the multi-joint mechanical arm body, one side of the joint connector is fixedly connected with a vertical frame, the top position of the vertical frame is slidably connected with a bracket, the lower position of the vertical frame is fixedly provided with a motor, the output end of the motor is connected with a double-end screw rod, and the lifting and the pulling-down of the camera body can be realized through the arranged double-end screw rod, a transmission sleeve, the bracket, a connecting rod, a movable bracket, the vertical frame and a sliding rod by the mechanical arm during working.

Description

Mechanical arm with vision movement function

Technical Field

The utility model relates to the technical field of sorting, in particular to a mechanical arm with a visual movement function.

Background

Along with the mature utilization of the automation technology in logistics sorting, the visual mobile mechanical arm on the market at present can realize free movement through the universal wheels at the bottom, and meanwhile, the camera and the mechanical arm are combined, the mechanical arm can be guided to act through the visual identification technology, so that the accurate grabbing of cargoes is realized, and the labor intensity in the manual sorting operation is greatly reduced;

in actual current visual mobile mechanical arm, utilize the camera of being fixed to arm upper left end position, to the goods that need sort, carry out visual identification and snatch the in-process of operation, mostly regard as the visual identification component to adopt the setting of fixed installation, when making the identification component not nimble and adjust very inconvenient, the camera during operation also can receive the restriction because of visual identification scope, the problem of easy emergence omission is examined, consequently, proposes a take visual mobile function's mechanical arm to above-mentioned problem.

Disclosure of Invention

The utility model aims to provide a mechanical arm with a visual movement function, which solves the problem that the visual recognition range is limited and the detection omission is easy to occur when the visual movement mechanical arm is put forward to work in the background technology.

In order to achieve the above purpose, the present utility model provides the following technical solutions:

the utility model provides a take visual movement function's arm, includes the multi-joint arm body, the upper left side rotation of multi-joint arm body is installed and is linked up the joint, and links up one side fixedly connected with vertical upright frame that connects, the top position sliding connection who stands the frame perpendicularly has the bracket, and the below position fixed mounting who stands the frame perpendicularly has the motor, the output of motor is connected with the double-end lead screw, and the both sides screw thread outside of double-end lead screw all is equipped with the transmission sleeve, the position just above the transmission sleeve is equipped with movable support, and movable support passes through connecting rod and transmission sleeve transmission connection, the equal fixedly connected with slide bar in both sides below position of movable support, top one side position fixedly connected with anchor clamps of bracket, and the inboard card of anchor clamps has the camera body.

Preferably, the bottom of the vertical frame is fixedly connected with a horizontal bottom frame, the front end and the rear end of one side of the horizontal bottom frame are respectively provided with a clamping claw body in a rotating mode, the connection between the horizontal bottom frame and the vertical frame forms an L-shaped structure, and the horizontal bottom frame is fixedly connected with the connecting joint.

Preferably, the middle part of one side of the camera body and the lower position in one side are respectively provided with a high-definition lens body and an infrared ranging sensor, and the wiring terminals of the infrared ranging sensor and the camera body are respectively connected with the wiring terminal of a control processor arranged in the control cabinet.

Preferably, the bottom of articulated arm body rotates and is connected with articulated base, and articulated base's appearance is "U" structural setting, articulated base's bottom fixedly connected with saddle, and saddle's bottom fixedly connected with control machine case, the bottom four corners end position of control machine case is equipped with the universal wheel body respectively.

Preferably, the inside below of bracket is equipped with respectively with perpendicular upright frame sliding connection's slider, and fixed connection between bracket and the movable support, the movable support passes through connecting rod, transmission sleeve and double-end lead screw transmission to be connected, and rotates between double-end lead screw and the perpendicular upright frame to be connected, the both sides of double-end lead screw are equipped with the opposite direction setting between the screw thread, perpendicular upright frame and a set of slide bar sliding connection.

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

according to the utility model, through the double-end screw rod, the transmission sleeve, the bracket, the connecting rod, the movable bracket, the vertical frame and the sliding rod, when one group of transmission sleeve can realize the same-direction or reverse-direction stretching towards the middle part of the double-end screw rod, the movable bracket can lift and pull down the camera body through the bracket, so that the height and the recognition range of the camera body are quickly adjusted, the mounting height of the camera component can be freely adjusted, the range of the visual movable mechanical arm for observing and recognizing the goods is enlarged, meanwhile, the mechanical arm can conveniently grasp the goods with different heights, the phenomenon that the recognition component is easy to miss in working due to the limited range of the observation and recognition height is avoided, and the technical problem in the background technology is conveniently solved.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the present utility model;

FIG. 2 is a schematic view of a partial structure of the present utility model;

FIG. 3 is a schematic view of the internal structure of the vertical frame of the present utility model;

fig. 4 is a schematic side view of the bracket of the present utility model.

In the figure: the multi-joint mechanical arm comprises a 1-multi-joint mechanical arm body, a 2-vertical frame, a 3-horizontal bottom frame, a 4-bracket, a 5-clamp, a 6-camera body, a 7-infrared ranging sensor, an 8-motor, a 9-double-head screw rod, a 10-transmission sleeve, a 11-movable support, a 12-connecting rod, a 13-side sliding rod, a 14-high-definition lens body, a 15-clamping claw body, a 16-connection joint, a 17-hinged base, a 18-supporting table, a 19-control cabinet and a 20-universal wheel body.

Description of the embodiments

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.

Referring to fig. 1-4, the present utility model provides a technical solution:

the utility model provides a take visual movement function's arm, including multi-joint arm body 1, multi-joint arm body 1's upper left side rotates installs the connection joint 16, and the one side fixedly connected with perpendicular upright frame 2 of connection joint 16, the top position sliding connection of perpendicular upright frame 2 has bracket 4, and the below position fixed mounting of perpendicular upright frame 2 has motor 8, motor 8's output is connected with double-end lead screw 9, and the both sides screw thread outside of double-end lead screw 9 all is equipped with transmission sleeve 10, transmission sleeve 10 is equipped with movable support 11 in the position directly over, and movable support 11 passes through connecting rod 12 and transmission sleeve 10 transmission and is connected, the equal fixedly connected with slide bar 13 in both sides below position of movable support 11, the top one side position fixedly connected with anchor clamps 5 of bracket 4, and the inboard cartridge of anchor clamps 5 has camera body 6.

As shown in fig. 1 and 2, the bottom of the vertical frame 2 is fixedly connected with a horizontal bottom frame 3, two ends of one side of the horizontal bottom frame 3 are respectively provided with a gripper jaw body 15 in a rotating way, the connection between the horizontal bottom frame 3 and the vertical frame 2 forms an L-shaped structure, the horizontal bottom frame 3 is fixedly connected with a joint 16, and after the identification of goods is completed, a mechanical arm can grasp the goods to be sorted and transported through the opening and closing of a group of gripper jaw bodies 15; the middle part of one side of the camera body 6 and the lower part of the middle part of one side are respectively provided with a high-definition lens body 14 and an infrared ranging sensor 7, the wiring terminals of the infrared ranging sensor 7 and the camera body 6 are respectively connected with the wiring terminals of a control processor arranged in the control cabinet 19, under the operation of a visual mobile mechanical arm, the camera body 6 can acquire an image of a cargo separated onto a sorting table through the high-definition lens body 14, and the image information can be converted into a digital signal which is fed back to the control processor for processing and recognition by the control processor; the bottom of articulated arm body 1 rotates and is connected with articulated base 17, and articulated base 17's appearance is "U" structural setting, articulated base 17's bottom fixedly connected with saddle 18, and saddle 18's bottom fixedly connected with control box 19, control box 19's bottom four corners end position is equipped with universal wheel body 20 respectively, saddle 18 and articulated base 17's setting, when can follow the lower extreme position of vision movable type arm, provide stable support, two sets of universal wheel bodies 20 that vision movable type arm accessible bottom was equipped with realize freely moving.

As shown in fig. 2, fig. 3 and fig. 4, the sliding blocks slidingly connected with the vertical upright frame 2 are respectively arranged below the inner side of the bracket 4, the bracket 4 is fixedly connected with the movable bracket 11, the movable bracket 11 is in transmission connection with the double-head screw rod 9 through the connecting rod 12 and the transmission sleeve 10, the double-head screw rod 9 is in rotation connection with the vertical upright frame 2, the two sides of the double-head screw rod 9 are provided with threaded axes, the directions of the threaded axes are opposite, the vertical upright frame 2 and a group of sliding rods 13 are slidingly connected, the camera body 6 is fixed on the vertical upright frame 2, the height is freely adjusted, and the visual movable mechanical arm is convenient for carrying out corresponding grabbing operations on goods with different heights.

The working flow is as follows: in combination with the visual mobile mechanical arm, before the visual mobile mechanical arm is used, the visual mobile mechanical arm can move to the side of a sorting table through the arranged universal wheel body 20, when the visual mobile mechanical arm utilizes a visual recognition technology and the high-definition lens body 14 on the camera body 6 is used for observing and measuring that goods to be sorted are sent to the sorting table, under the calculated execution command, the multi-joint mechanical arm body 1 realizes free rotation through the cooperation of a driving system such as a driving motor and a speed reducing assembly, after the goods are close to the sorting table, the goods are stably clamped through the opening and closing of the group of clamping claw bodies 15, the goods can be grabbed into sorting conveying equipment to complete single automatic sorting operation, and the visual mobile mechanical arm can be fixed to the side of the sorting table after moving to a proper position, when the visual mobile mechanical arm needs to adjust the observation range, before grabbing operation of the goods with a standard being higher or smaller, the double-headed screw 9 is driven to rotate under the sliding connection cooperation of the vertical frame 2 and the sliding rod 13, the double-headed screw 9 is driven, the group of the driving sleeve 10 can stretch towards the middle of the double-headed screw 9 to the same or stretch down, the double-headed screw rod 9 is pulled down by the two groups of the driving sleeve body 12, and the camera body is pulled down by the two groups of the bracket 4 to achieve high-speed adjustment, and the camera body is adjusted by the camera body 4 is adjusted by the camera bracket 4.

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

Claims (5)

1. The utility model provides a take visual removal function's arm, includes multi-joint arm body (1), its characterized in that: the left side top rotation of articulated arm body (1) is installed and is linked up joint (16), and links up one side fixedly connected with perpendicular upright frame (2) of joint (16), the top position sliding connection of perpendicular upright frame (2) has bracket (4), and the below position fixed mounting of perpendicular upright frame (2) has motor (8), the output of motor (8) is connected with double-end lead screw (9), and the both sides screw thread outside of double-end lead screw (9) all is equipped with transmission sleeve (10), the position just above transmission sleeve (10) is equipped with movable support (11), and movable support (11) are through connecting rod (12) and transmission sleeve (10) transmission connection, the equal fixedly connected with slide bar (13) in both sides below position of movable support (11), top one side position fixedly connected with anchor clamps (5) of bracket (4), and the inboard cartridge of anchor clamps (5) has camera body (6).

2. The mechanical arm with a visual movement function according to claim 1, wherein: the bottom of perpendicular upright frame (2) fixedly connected with horizontal underframe (3), and both ends rotate respectively around one side of horizontal underframe (3) and install gripper body (15), the connection between horizontal underframe (3) and perpendicular upright frame (2) constitutes an "L" structure, and fixed connection between horizontal underframe (3) and linking joint (16).

3. The mechanical arm with a visual movement function according to claim 1, wherein: the camera body (6) is provided with a high-definition lens body (14) and an infrared ranging sensor (7) respectively at the middle part of one side and the lower part of one side, and the wiring terminals of the infrared ranging sensor (7) and the camera body (6) are connected with the wiring terminal of a control processor arranged in the control cabinet (19) respectively.

4. The mechanical arm with a visual movement function according to claim 1, wherein: the bottom of articulated arm body (1) rotates and is connected with articulated base (17), and the appearance of articulated base (17) is "U" type structure setting, the bottom fixedly connected with saddle (18) of articulated base (17), and the bottom fixedly connected with control machine case (19) of saddle (18), the bottom four corners end position of control machine case (19) is equipped with universal wheel body (20) respectively.

5. The mechanical arm with a visual movement function according to claim 1, wherein: the lower part of the inner side of the bracket (4) is respectively provided with a sliding block which is in sliding connection with the vertical frame (2), the bracket (4) is fixedly connected with the movable bracket (11), the movable bracket (11) is in transmission connection with the double-head screw rod (9) through a connecting rod (12), a transmission sleeve (10), the double-end screw rods (9) are connected with the vertical stand frames (2) in a rotating mode, the directions of the threaded axes of the two sides of the double-end screw rods (9) are opposite, and the vertical stand frames (2) are connected with a group of sliding rods (13) in a sliding mode.