WO2021168970A1

WO2021168970A1 - 3d vision-based small robotic arm transport cart

Info

Publication number: WO2021168970A1
Application number: PCT/CN2020/081640
Authority: WO
Inventors: 张建民; 龙佳乐; 郑英明
Original assignee: 五邑大学
Priority date: 2020-02-26
Filing date: 2020-03-27
Publication date: 2021-09-02
Also published as: CN211841970U

Abstract

A 3D vision-based small robotic arm transport cart, comprising a frame (100), a mount base (300) being arranged thereon; a floor pan frame (200) arranged at a bottom part of the frame, with wheels (210) and a drive member being mounted on said floor pan frame; a robotic arm (500) mounted on the mount base and comprising a support frame (510), a robotic claw (520), and a camera (530); a X axis assembly arranged on the frame and comprising a X axis guide mechanism and a X axis motor (600); a Y axis assembly arranged on the frame and comprising a Y axis guide mechanism and a Y axis motor (700); and a Z axis assembly arranged on the mount base and comprising a Z axis motor (400), a Z axis guide mechanism, a Z axis gear rack (420) arranged on the support frame, and a Z axis gear (410). The cart obtains cargo location information by means of the camera, and controls the X axis motor to drive the mount base to move, the Y axis motor to drive the X axis guide mechanism to move, and the Z axis motor to drive the support frame to raise and lower by means of Z axis gear and the Z axis gear rack meshing, and as such the robotic arm can be moved up, down, left, right, forward, and backward; the present invention has a simple and light structure, facilitates adaptable transport, and improves transport efficiency.

Description

Small robotic arm handling trolley based on three-dimensional vision

Technical field

The invention relates to the technical field of intelligent handling equipment, in particular to a small mechanical arm handling trolley based on three-dimensional vision.

Background technique

Nowadays, logistics and warehousing industries are increasingly using trucks to transport goods instead of manpower. When trucks work, they use small robotic arms to get the goods placed on the ground and place them on the truck for transportation. The existing small machinery The arms are all six-axis mechanical arms. The product cost is high, and the lifting adjustment cannot be adjusted according to the height of the article. The work flexibility is low. Most of the large mechanical arms that can realize the lifting function are installed on the handling trolley, and the volume of the whole vehicle is relatively large. , Increase the no-load load of the trolley, which is not convenient for flexible transportation and affects the transmission efficiency.

Summary of the invention

The purpose of the present invention is to solve at least one of the technical problems in the prior art, and to provide a small-sized robotic arm handling trolley based on three-dimensional vision, which can lift and adjust the robotic arm according to the height of the object, is reliable and flexible, has a simple and compact structure, and has Facilitate flexible transportation and improve transportation efficiency.

According to an embodiment of the present invention, a small robotic arm handling trolley based on three-dimensional vision includes: a frame, provided with a mounting seat; a chassis frame, provided on the bottom of the frame, equipped with a number of wheels and driving parts; and a mechanical arm installed on The mounting seat includes a bracket, and a mechanical claw and a camera arranged on the bracket; an X-axis assembly, which is arranged on the frame, includes an X-axis guide mechanism and an X-axis motor connected to the mounting seat Y-axis assembly, which is set on the frame, includes a Y-axis guide mechanism and a Y-axis motor connected to the X-axis assembly; and a Z-axis assembly, which is set on the mounting seat, includes a Z-axis motor, is set A Z-axis rack on the bracket, and a Z-axis gear meshed with the Z-axis rack.

According to the embodiment of the present invention, the small-sized robotic arm handling trolley based on three-dimensional vision has at least the following technical effects: obtain the position information of the goods through the camera, control the actions of the X-axis motor, the Y-axis motor and the Z-axis motor, and the control is accurate and reliable. The motor drives the mounting base to move, the Y-axis motor drives the X-axis guide mechanism connected with the mounting base to move, and the Z-axis motor drives the bracket to move up and down. The mechanical arm can move up and down, left and right, and back and forth, working flexibly, and through Z-axis gears and Z-axis gears The strips are engaged to realize the lifting and lowering of the mechanical arm, the structure is simple and lightweight, the production cost is saved, and the idling load of the trolley is reduced, which is conducive to flexible transportation and improves the transportation efficiency.

According to some embodiments of the present invention, a Z-axis stopper and an infrared sensor are provided on the mounting seat, and a baffle corresponding to the position is provided on the top of the bracket. The lifting stroke of the mechanical arm is controlled by the Z-axis limiter. When the baffle touches the Z-axis limiter, the bracket stops moving to ensure the reliable operation of the mechanical arm. The infrared signal is transmitted through the infrared sensor and is reflected by the baffle. Obtain the distance between the baffle and the infrared sensor, so as to obtain the lifting height information of the robotic arm, control the height of the robotic arm, and the control is accurate and reliable.

According to some embodiments of the present invention, the X-axis guide mechanism includes an X-axis guide rail and an X-axis slider arranged at the bottom of the mounting seat, and the X-axis slider is adapted to the X-axis guide rail. By adapting the X-axis slider to the X-axis guide rail, the mounting seat can move along the X-axis direction, so that the mechanical arm can move left and right, the structure is simple, and the guidance is accurate and reliable.

According to some embodiments of the present invention, an X-axis pulley is provided at one end of the X-axis guide rail, an X-axis belt clip is provided on the mounting seat, and an X-axis is connected between the X-axis pulley and the X-axis motor. A shaft synchronous belt, and the X-axis synchronous belt is tightly connected with the X-axis belt clip. The X-axis synchronous belt is driven to rotate by the X-axis motor, and the X-axis synchronous belt is moved by the X-axis belt clamp to drive the mounting seat. The structure is simple and compact, and the drive is reliable.

According to some embodiments of the present invention, the Y-axis guide mechanism includes a Y-axis guide rail and a Y-axis slider arranged at the bottom of the X-axis guide mechanism, and the Y-axis slider is adapted to the Y-axis guide rail. By adapting the Y-axis slider to the Y-axis guide rail, the X-axis guiding mechanism can move along the Y-axis direction, so that the mounting seat can move along the Y-axis direction, so that the mechanical arm can move back and forth, with a simple structure and accurate and reliable guidance.

According to some embodiments of the present invention, a Y-axis belt clip is provided at the bottom of the X-axis guide mechanism, Y-axis pulleys are provided at both ends of the Y-axis guide rail, and the Y-axis pulley is sleeved with the Y-axis belt clip. The Y-axis synchronous belt is fastened by the shaft belt clip, and the Y-axis synchronous belt is connected with the Y-axis motor. Install the Y-axis timing belt through the Y-axis pulley, the Y-axis motor drives the Y-axis timing belt to rotate, and the Y-axis timing belt is fastened through the Y-axis belt clip. When the Y-axis timing belt rotates, the X-axis guiding mechanism is along the Y-axis direction Move, so that the mounting seat moves along the Y axis, so that the mechanical arm moves in the forward and backward directions.

According to some embodiments of the present invention, polished rods are provided at both ends of the Y-axis guide rail, a drive wheel is provided on the polished rod at one end, a drive belt is connected between the drive wheel and the Y-axis motor, and The Y-axis pulleys are arranged at both ends of the polished rod. The Y-axis motor controls the rotation of the driving wheel through the driving belt, so that the polished rod rotates synchronously, so that the Y-axis pulleys at both ends rotate at the same time, and the Y-axis synchronous belts at both ends rotate cyclically. The structure is compact, synchronous drive control, and reliable control.

According to some embodiments of the present invention, the mechanical claw includes a steering gear and a plurality of clamping jaws, and a connecting rod is connected between the steering gear and the clamping jaws. The steering gear drives the connecting rod to move, and the clamping jaws are controlled to move closer to the center or away from the center at the same time, so that the mechanical jaws can be opened or contracted, synchronized control, accurate control, and reliable operation of the mechanical jaws.

According to some embodiments of the present invention, the Z-axis guide mechanism includes a Z-axis guide rail arranged on the bracket, and a Z-axis slider arranged on the mounting seat, and the Z-axis slider and the Z-axis Rail adaptation. By adapting the Z-axis slide block to the Z-axis guide rail, the mechanical arm can move in the Z-axis direction, so that the mechanical arm can move up and down, the structure is simple, and the guidance is accurate and reliable.

According to some embodiments of the present invention, an X-axis stopper is provided on the X-axis guide mechanism, and a Y-axis stopper is provided on the frame. The X-axis stopper is used to limit the movement stroke of the mounting seat. When the mounting seat touches the X-axis stopper, it stops moving, so that the mechanical arm stops moving. The Y-axis stopper restricts the movement of the X-axis guide mechanism. The shaft guide mechanism stops moving when it touches the Y-axis stopper, so that the mounting seat stops moving, thereby controlling the mechanical arm to stop moving and ensuring the reliable operation of the mechanical arm.

The additional aspects and advantages of the present invention will be partly given in the following description, and partly will become obvious from the following description, or be understood through the practice of the present invention.

Description of the drawings

The above and/or additional aspects and advantages of the present invention will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, in which:

Figure 1 is a schematic diagram of the overall structure of a handling trolley according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of the structure of the Z-axis assembly shown in FIG. 1;

FIG. 3 is a schematic diagram of the structure of the X-axis assembly shown in FIG. 1;

FIG. 4 is a schematic diagram of the structure of the Y-axis assembly shown in FIG. 1;

Fig. 5 is an exploded view of the structure of the mechanical claw shown in Fig. 1.

Reference signs:

Frame 100, Y-axis stopper 110,

Chassis frame 200, wheels 210, connecting plate 220, spring 230, drive motor 240, encoder 241,

Mounting base 300, infrared sensor 310, Z-axis stopper 320, X-axis belt clamp 330,

Z-axis motor 400, Z-axis gear 410, Z-axis rack 420, Z-axis guide 430, Z-axis slider 440,

Robotic arm 500, bracket 510, mechanical claw 520, upper fixing frame 521, steering gear 522, lower fixing frame 523, turntable 524, gripper 525, connecting rod 526, camera 530, baffle 540,

X-axis motor 600, X-axis pulley 610, X-axis timing belt 620, X-axis guide 630, X-axis slider 640, X-axis stopper 650, Y-axis belt clamp 660,

Y-axis motor 700, driving wheel 710, driving belt 720, polished rod 730, Y-axis pulley 740, Y-axis timing belt 750, Y-axis guide rail 760, and Y-axis slider 770.

Detailed ways

This section will describe the specific embodiments of the present invention in detail. The preferred embodiments of the present invention are shown in the accompanying drawings. The function of the accompanying drawings is to supplement the description of the text part of the manual with graphics, so that people can understand the present invention intuitively and vividly. Each technical feature and overall technical solution of the invention cannot be understood as a limitation of the protection scope of the present invention.

In the description of the present invention, it should be understood that the orientation description involved, such as up, down, front, back, left, right, etc. indicates the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, but In order to facilitate the description of the present invention and simplify the description, it does not indicate or imply that the device or element referred to must have a specific orientation, be configured and operate in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

In the description of the present invention, several means one or more, multiple means two or more, greater than, less than, exceeding, etc. are understood to not include the number, and above, below, and within are understood to include the number. If it is described that the first and second are only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying the relative importance or implicitly specifying the number of the indicated technical features or implicitly specifying the order of the indicated technical features relation.

In the description of the present invention, unless otherwise clearly defined, terms such as setting, installation, and connection should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meaning of the above terms in the present invention in combination with the specific content of the technical solution.

Hereinafter, a small-sized robotic arm handling trolley based on three-dimensional vision according to an embodiment of the present invention will be described with reference to FIGS. 1 to 5.

As shown in Figures 1 and 2, the small robotic arm 500 based on three-dimensional vision according to an embodiment of the present invention includes a frame 100 and a chassis frame 200 installed at the bottom of the frame 100. The chassis frame 200 is equipped with a number of wheels. 210, and the driving part connected with the wheel 210, the frame 100 is provided with a mounting seat 300, the mounting seat 300 is provided with a robot arm 500 and a Z-axis assembly that drives the robot arm 500 up and down. The robot arm 500 includes a bracket 510 and a bracket 510 A mechanical claw 520 and a camera 530 are arranged at the bottom. The Z-axis assembly includes a Z-axis motor 400, a Z-axis gear 410 arranged on the Z-axis motor 400, and a Z-axis rack 420 arranged on the bracket 510, and the Z-axis rack 420 meshes with the Z-axis gear 410. The frame 100 is provided with an X-axis assembly and a Y-axis assembly. The X-axis assembly includes an X-axis guide mechanism arranged at the bottom of the mounting base 300 and an X-axis motor 600 connected to the mounting base 300. The Y-axis assembly includes a Y-axis guide mechanism arranged at the bottom of the X-axis assembly, and a Y-axis motor 700 connected to the X-axis assembly. It can be understood that through the meshing of the Z-axis rack 420 and the Z-axis gear 410, the mechanical arm 500 is mounted on the mounting base 300, the bottom of the mounting base 300 is connected to the X-axis guide mechanism, and the Y-axis guide mechanism is provided at the bottom of the X-axis guide mechanism. When working, the camera 530 takes pictures of the goods, obtains the position information of the goods, feeds back and controls the actions of the X-axis motor 600, Y-axis motor 700, and Z-axis motor 400. The Z-axis motor 400 drives the Z-axis gear 410 to rotate, so that the robot arm 500 is raised and lowered. The axis motor 600 drives the mounting base 300 to move along the X axis, so that the robot arm 500 moves left and right, and the Y axis motor 700 drives the X axis assembly to move, and the mounting base 300 moves accordingly, so that the robot arm 500 moves back and forth, realizing that the robot arm 500 can move. It can move up and down, left and right, front and rear, flexible work, simple and lightweight structure, saving production cost, reducing the idling load of the trolley, conducive to flexible transportation and improving transportation efficiency.

Further, a Z-axis stopper 320 and an infrared sensor 310 are provided on the mounting seat 300, and a baffle 540 corresponding to the position is provided on the top of the bracket 510. It is understandable that after the camera 530 obtains the position information of the goods, it controls the Z-axis motor 400 to drive the robot arm 500 up and down, and feeds back the elevation value to the infrared sensor 310. The infrared sensor 310 emits an infrared signal, and the infrared signal encounters the baffle 540. Fold back, return a real-time height value, compare with the required height value, adjust the height of the robot arm 500, closed-loop control adjustment, control is accurate and reliable, when the robot arm 500 moves to the baffle 540 and the Z axis stopper 320 touch, control Z The shaft motor 400 stops and the support 510 stops moving, so that the robot arm 500 stops lifting, limiting the lifting stroke of the robot arm 500, and ensuring that the robot arm 500 works reliably.

Furthermore, the Z-axis guiding mechanism includes a Z-axis guide 430 arranged on the bracket 510 and a Z-axis slider 440 arranged on the mounting seat 300, and the Z-axis slider 440 is adapted to the Z-axis guide 430. When the Z-axis motor 400 drives the Z-axis gear 410 to rotate, the Z-axis gear 410 meshes with the Z-axis rack 420, and the Z-axis slider 440 cooperates with the Z-axis guide 430, so that the mechanical arm 500 moves up and down in the Z-axis direction.

In some embodiments of the present invention, a buffer assembly is connected between the wheel 210 and the chassis frame 200. The buffer assembly includes a connecting plate 220. One end of the connecting plate 220 is hinged with the chassis frame 200, and the other end is provided with a movable connection with the chassis frame 200 The spring 230 and the driving part are installed on the connecting plate 220. Further, the driving member includes a driving motor 240 and an encoder 241.

Specifically, four wheels 210 are provided as mecanum wheels, a set of buffer components are connected between each wheel 210 and the chassis frame 200, and a drive motor 240 with an encoder 241 is connected to each wheel 210. It is understandable that during the conveying process, when vibration is generated due to uneven ground, the connecting plate 220 rotates, driving the spring 230 to stretch or compress, buffering the vibration, keeping the trolley moving smoothly, and ensuring reliable cargo support. Each wheel 210 Independently controlled and driven by a driving motor 240, the encoder 241 detects and feeds back the working status of the driving motor 240, real-time correction and adjustment of the speed and direction of the wheels 210, closed-loop control adjustment, precise adjustment, and four mecanum wheels, stable support The chassis frame 200 can realize movement modes such as forward movement, lateral movement, oblique movement, rotation, and combinations thereof, and the movement is flexible and diverse, and the trolley can move in all directions.

As shown in FIG. 3, in some embodiments of the present invention, the X-axis guide mechanism includes an X-axis guide rail 630 and an X-axis slider 640 arranged at the bottom of the mounting seat 300. The X-axis slider 640 is adapted to the X-axis guide rail 630. . Further, one end of the X-axis guide rail 630 is provided with an X-axis pulley 610 and an X-axis stopper 650, the X-axis motor 600 is installed at the other end, and the mounting seat 300 is provided with an X-axis belt clamp 330, and the X-axis pulley 610 is connected to the An X-axis timing belt 620 is connected between the X-axis motors 600, and the X-axis timing belt 620 is tightly connected with the X-axis belt clip 330.

Specifically, there are two X-axis guide rails 630, and each X-axis guide rail 630 is fitted with three X-axis sliders 640. It should be noted that the number of X-axis sliders 640 is not limited to three, and can also be set It is one, two or four, etc., depending on the specific use requirements.

It is understandable that the X-axis pulley 610 and the X-axis motor 600 are provided with two ends of the X-axis timing belt 620, so that the X-axis timing belt 620 is tensioned, and the X-axis motor 600 drives the X-axis timing belt 620 to cyclically rotate and slide on the X-axis. Under the guidance of the block 640 and the X-axis guide rail 630, the mounting seat 300 is fastened to the X-axis timing belt 620 through the X-axis belt clip 330, and moves along the X-axis direction, so that the mechanical arm 500 can move left and right. When the mounting seat 300 moves to the limit Position, touch the X-axis stopper 650, control the X-axis motor 600 to stop, the mounting base 300 stops moving, so that the robot arm 500 stops moving, restricts the movement stroke of the robot arm 500 in the X-axis direction, and ensures the robot arm 500 Reliable work.

As shown in FIG. 4, in some embodiments of the present invention, the Y-axis guide mechanism includes a Y-axis guide rail 760 and a Y-axis slider 770 arranged at the bottom of the X-axis guide mechanism. The Y-axis slider 770 is compatible with the Y-axis guide rail 760. match. Further, a Y-axis belt clamp 660 is provided at the bottom of the X-axis guide mechanism, Y-axis pulleys 740 are provided at both ends of the Y-axis guide rail 760, and Y-axis pulleys 740 are sleeved with a Y-axis belt clamp 660 tightly connected to the Y-axis. The Y-axis timing belt 750 is connected to the Y-axis motor 700. Furthermore, the Y-axis guide rail 760 is provided with polished rods 730 at both ends, and one end of the polished rod 730 is provided with a driving wheel 710. The driving wheel 710 is connected to the Y-axis. A drive belt 720 is connected between the motors 700, and the Y-axis pulley 740 is arranged at both ends of the polished rod 730, the Y-axis stopper 110 is arranged on the other end of the Y-axis guide rail 760, and the Y-axis stopper 110 is installed on the frame 100 .

Specifically, there are two Y-axis guide rails 760, which are respectively provided at both ends of the bottom of the X-axis guide rail 630. Correspondingly, three Y-axis sliders 770 and Y-axis belt clamps 660 are respectively provided at both ends of the bottom of the X-axis guide rail 630. The polished rods 730 are respectively arranged at both ends of the Y-axis guide rail 760, each polished rod 730 is provided with a Y-axis pulley 740 at both ends, and the Y-axis pulley 740 at the same end of the two polished rods 730 is sleeved with a Y-axis timing belt 750, The Y-axis timing belt 750 is tightly connected with the Y-axis belt clip 660. One of the polished rods 730 is fixedly connected with a drive wheel 710. A Y-axis motor 700 is arranged on the frame 100 on the same side of the polished rod 730. A drive belt 720 is connected between the motor 700 and the drive wheels 710, and a Y-axis stopper 110 is provided on the frame 100 on the other side.

It can be understood that the Y-axis motor 700 controls the rotation of the driving wheel 710 through the driving belt 720, so that the polished rod 730 rotates, so that the Y-axis pulleys 740 at both ends rotate, and the Y-axis synchronous belts 750 at both ends rotate simultaneously, and the Y-axis belt clip 660 is fastened to connect the Y-axis timing belt 750 and X-axis guide rail 630 at the same time. Driven by the Y-axis timing belt 750, the X-axis guide rail 630 moves along the Y-axis direction, so that the mounting seat 300 moves along the Y-axis direction, and the robot arm 500 can move forward and backward. When the robot arm 500 moves to the mechanical position, it touches the Y-axis stopper 110 on the frame 100, and the Y-axis motor 700 is controlled to stop, so that the robot arm 500 stops moving and restricts the robot arm 500 in the Y-axis direction. The moving stroke ensures reliable operation of the robot arm 500.

As shown in FIG. 5, in some embodiments of the present invention, the mechanical claw 520 includes a steering gear 522 and a plurality of clamping jaws 525, and a connecting rod 526 is connected between the steering gear 522 and the clamping jaws 525. Further, the bottom end of the bracket 510 is provided with an upper fixing frame 521 and a lower fixing frame 523 for installing the steering gear 522. One end of the connecting rod 526 is connected to the steering gear 522 through the turntable 524, and the other end is hinged with the clamping jaw 525, and the middle of the clamping jaw 525 It is hinged with the lower fixing frame 523.

Specifically, four clamping jaws 525 are provided, which are evenly distributed in the circumferential direction. One end of each clamping jaw 525 is hinged with a connecting rod 526, the other end of the connecting rod 526 is hinged with the turntable 524, and the turntable 524 is connected with the steering gear 522. Each jaw The middle part of the 525 is hinged to the lower fixing frame 523. It is understandable that the steering gear 522 rotates and drives the four connecting rods 526 to rotate at the same time, thereby driving the four clamping jaws 525 to pivot with the hinged joint with the lower fixing frame 523 to realize the opening and contraction of the mechanical jaws 520 and synchronous control. , The control is accurate, and the mechanical claw 520 is guaranteed to work reliably.

In the following, referring to FIGS. 1 to 5, a detailed description is given of a small-sized robotic arm 500 handling trolley based on a three-dimensional vision according to an embodiment of the present invention with a specific embodiment. It should be understood that the following description is only an exemplary description, rather than a specific limitation to the invention.

According to an embodiment of the present invention, a small robotic arm 500 handling trolley based on three-dimensional vision includes a frame 100 and a chassis frame 200 at the bottom of the frame 100. The frame 100 is provided with a mounting seat 300, and the mounting seat 300 is provided with a Z-axis motor 400, and the Z-axis gear 410 connected with the Z-axis motor 400, the mounting base 300 is equipped with a mechanical arm 500, and the mechanical arm 500 includes a bracket 510 provided through the mounting base 300 and a mechanical claw 520 provided at the bottom end of the bracket 510. The bracket 510 A Z-axis rack 420 and a Z-axis guide 430 meshing with the Z-axis gear 410 are provided on the mounting seat 300, a Z-axis slider 440 adapted to the Z-axis guide 430 is provided on the mounting seat 300, and a baffle 540 is provided on the top of the bracket 510, The mounting seat 300 is provided with an infrared sensor 310 corresponding to the position of the baffle 540 and a Z-axis stopper 320. The mechanical claw 520 includes a steering gear 522. The steering gear 522 is mounted on the lower fixing frame 523. The lower fixing frame 523 is provided with The upper fixing frame 521 connected to the bracket 510 is provided with a turntable 524 on the steering gear 522, four connecting rods 526 are hinged on the turntable 524, and the other end of each connecting rod 526 is hinged with a clamping claw 525. 523 articulated.

Two X-axis guide rails 630 are provided on the frame 100. An X-axis slider 640 adapted to the X-axis guide rail 630 is provided at the bottom of the mounting seat 300. One end of the X-axis guide rail 630 is provided with an X-axis motor 600, and the other end is provided with X The shaft pulley 610 and the X-axis stopper 650, the X-axis timing belt 620 is connected between the X-axis motor 600 and the X-axis pulley 610, and the X-axis timing belt 620 is connected to the X-axis belt clamp 330 on the mounting seat 300 The mounting seat 300 is tightly connected. Two Y-axis guide rails 760 are installed on the frame 100. The bottom ends of the X-axis guide rail 630 are provided with Y-axis sliders 770 adapted to the Y-axis guide rail 760. The Y-axis guide rails 760 are provided at both ends. There are polished rods 730, each polished rod 730 is provided with Y-axis pulleys 740 at both ends, the Y-axis pulley 740 on the same end of the polished rod 730 is sleeved with a Y-axis timing belt 750, and the bottom ends of the X-axis guide 630 are provided with Y-axis The Y-axis belt clamp 660 fastened by the timing belt 750, one of the polished rods 730 is provided with a driving wheel 710, and the frame 100 on the side where the polished rod 730 is located is provided with a Y-axis motor 700, a Y-axis motor 700 and a driving wheel A drive belt 720 is connected between 710, and a Y-axis stopper 110 is provided on the other side of the frame 100.

Four wheels 210 are provided at the bottom of the chassis frame 200, all of which are Mecanum wheels. Each wheel 210 is connected to a drive motor 240 with an encoder 241. The drive motor 240 is mounted on the connecting plate 220. One end of the connecting plate 220 is connected to The chassis frame 200 is hinged, and the other end is movably connected to the chassis frame 200 through a spring 230.

According to the embodiment of the present invention, the small robot arm 500 based on three-dimensional vision can achieve at least some of the following effects. The camera 530 can obtain the position information of the goods and control the X-axis motor 600, Y-axis motor 700 and Z-axis. The motor 400 moves, and the control is accurate and reliable. The X-axis motor 600 and the X-axis synchronous belt 620, the Y-axis motor 700 and the Y-axis synchronous belt 750, the Z-axis gear 410 and the Z-axis rack 420 are engaged and driven, and the guide rail and the sliding block are coordinated and guided. , The robotic arm 500 can move left and right, forward and backward, and up and down. It is flexible in work, simple and lightweight, saves production costs, reduces the idling load of the trolley, is conducive to flexible transportation, and improves conveying efficiency. The Z-axis limiter 320 controls the control of the mechanical arm 500. Lifting stroke, X-axis stopper 650 and Y-axis stopper 110 respectively control the left and right, forward and backward movement strokes of mechanical arm 500 to ensure reliable operation of mechanical arm 500. The infrared sensor 310 cooperates with the baffle 540, and the baffle 540 is measured. The distance between the infrared sensor 310 and the infrared sensor 310 can be used to obtain the lifting height information of the robotic arm 500, and control the height of the robotic arm 500. The control is accurate and reliable. The spring 230 and the connecting plate 220 cooperate to buffer the vibration of the trolley, keep the trolley moving smoothly, and ensure the goods. Reliable support.

In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "exemplary embodiments", "examples", "specific examples", or "some examples" etc. means to incorporate the implementation The specific features, structures, materials or characteristics described by the examples or examples are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above-mentioned terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above-mentioned embodiments, and within the scope of knowledge possessed by a person of ordinary skill in the technical field, it is possible to make various changes without departing from the purpose of the present invention. Kind of change.

Claims

A small mechanical arm handling trolley based on three-dimensional vision, which is characterized in that it includes:

Rack, equipped with mounting seat;

The chassis frame is arranged at the bottom of the frame and is equipped with a number of wheels and driving parts;

A mechanical arm, which is installed on the mounting seat, includes a bracket, and a mechanical claw and a camera arranged on the bracket;

The X-axis assembly is arranged on the frame and includes an X-axis guide mechanism and an X-axis motor connected to the mounting base;

The Y-axis assembly is arranged on the frame and includes a Y-axis guide mechanism and a Y-axis motor connected to the X-axis assembly; and

The Z-axis assembly is arranged on the mounting seat and includes a Z-axis motor, a Z-axis guide mechanism, a Z-axis rack provided on the bracket, and a Z-axis gear meshed with the Z-axis rack.
The small-sized mechanical arm handling trolley based on three-dimensional vision according to claim 1, wherein a Z-axis stopper and an infrared sensor are provided on the mounting seat, and a baffle corresponding to the position is provided on the top of the bracket.
The small-sized robot arm handling trolley based on three-dimensional vision according to claim 1, characterized in that: the X-axis guiding mechanism comprises an X-axis guide rail and an X-axis sliding block arranged at the bottom of the mounting seat, and the X-axis sliding The block is adapted to the X-axis guide rail.
The small-sized robotic arm handling trolley based on three-dimensional vision according to claim 3, characterized in that: an X-axis pulley is provided at one end of the X-axis guide rail, an X-axis belt clip is provided on the mounting seat, and the X-axis An X-axis timing belt is connected between the pulley and the X-axis motor, and the X-axis timing belt is tightly connected with the X-axis belt clip.
The small-sized robot arm handling trolley based on three-dimensional vision according to claim 1, wherein the Y-axis guide mechanism includes a Y-axis guide rail and a Y-axis slider arranged at the bottom of the X-axis guide mechanism. The shaft sliding block is adapted to the Y-axis guide rail.
The small-sized robotic arm handling trolley based on three-dimensional vision according to claim 5, characterized in that: the bottom of the X-axis guide mechanism is provided with a Y-axis belt clip, and both ends of the Y-axis guide rail are provided with Y-axis pulleys, so The Y-axis belt pulley is sleeved with a Y-axis timing belt that is tightly connected with the Y-axis belt clip, and the Y-axis timing belt is connected with the Y-axis motor.
The small-sized robotic arm handling trolley based on three-dimensional vision according to claim 6, wherein the Y-axis guide rail is provided with polished rods at both ends, and the polished rod at one end is provided with a driving wheel, and the driving wheel is connected to the polished rod. A drive belt is connected between the Y-axis motors, and the Y-axis pulleys are arranged at both ends of the polished rod.
The small mechanical arm handling trolley based on three-dimensional vision according to claim 1, wherein the mechanical claw includes a steering gear and a plurality of clamping jaws, and a connecting rod is connected between the steering gear and the clamping jaws.
The small-sized robotic arm handling trolley based on three-dimensional vision according to claim 1, wherein the Z-axis guide mechanism includes a Z-axis guide rail arranged on the bracket, and a Z-axis arranged on the mounting seat. Sliding block, and the Z-axis sliding block is adapted to the Z-axis guide rail.
The small-sized robot arm handling trolley based on three-dimensional vision according to claim 1, wherein the X-axis guide mechanism is provided with an X-axis stopper, and the frame is provided with a Y-axis stopper.