CN113618773A

CN113618773A - Feeding and discharging mechanical arm based on visual positioning

Info

Publication number: CN113618773A
Application number: CN202111006538.XA
Authority: CN
Inventors: 李光明
Original assignee: Anhui Renhe Intelligent Manufacturing Co ltd
Current assignee: Anhui Renhe Intelligent Manufacturing Co ltd
Priority date: 2021-08-30
Filing date: 2021-08-30
Publication date: 2021-11-09
Anticipated expiration: 2041-08-30
Also published as: CN113618773B

Abstract

The invention discloses a feeding and discharging mechanical arm based on visual positioning, which belongs to the technical field of mechanical arms and comprises a mechanical arm body, wherein the mechanical arm body comprises a plurality of clamping mechanisms, each clamping mechanism comprises a first arm column and a second arm column which are used for rotating and an adjusting seat which is used for adjusting, a buffer seat is arranged inside each adjusting seat, and a buffer groove and a buffer spring are arranged inside each buffer seat; the manipulator body also comprises a fixed seat, a camera and a plurality of illuminating lamps are arranged in the middle of the lower end of the fixed seat, and a plurality of clamping mechanisms which are distributed at equal intervals are rotationally connected with the fixed seat through fixed columns; the invention is used for solving the technical problem that the manipulator in the existing scheme cannot be adaptively adjusted according to the type of a material, so that the clamping effect of the manipulator is poor.

Description

Feeding and discharging mechanical arm based on visual positioning

Technical Field

The invention relates to the technical field of manipulators, in particular to a feeding and discharging manipulator based on visual positioning.

Background

The rectangular coordinate robot is a manipulator which can realize automatic control, repeated programming, multiple degrees of freedom and multiple purposes, and the working operation mode of the rectangular coordinate robot is realized by linear motion along an X axis, a Y axis and a Z axis.

Last unloading manipulator on current cartesian robot is at the during operation, can not carry out the adaptability adjustment according to the material of different grade type for the stability of material centre gripping is not good when unloading on the manipulator.

Disclosure of Invention

The invention aims to provide a feeding and discharging manipulator based on visual positioning, which solves the following technical problems: how to solve among the current scheme manipulator can not carry out the adaptability adjustment according to the type of material, lead to the not good technical problem of effect of manipulator centre gripping.

The purpose of the invention can be realized by the following technical scheme:

a feeding and discharging mechanical arm based on visual positioning comprises a mechanical arm body, wherein the mechanical arm body comprises a plurality of clamping mechanisms, each clamping mechanism comprises a first arm column and a second arm column which are used for rotating and an adjusting seat which is used for adjusting, a buffer seat is arranged inside each adjusting seat, a buffer groove and a buffer spring are arranged inside each buffer seat, and one side of each adjusting seat is connected with a clamping plate; wherein, adjust the seat and be used for rotating the regulation to the position of splint, improve the stability of splint and material contact, the cushion socket is used for buffering the centre gripping of material, has realized the soft centre gripping of material, has overcome hard centre gripping among the current scheme and has caused the defect of wearing and tearing to the material.

The invention has further technical improvements that: the manipulator body still includes the fixing base, and the intermediate position of fixing base lower extreme is provided with camera and a plurality of light, and the camera is used for realizing visual positioning, is that a plurality of fixture of equidistant range distribution all rotates with the fixing base through the fixed column to be connected.

The invention has further technical improvements that: install the rotary column between first armed post and the second armed post, the second armed post rotates through rotary column and first armed post to be connected, adjusts seat fixed mounting in the bottom of second armed post.

The invention has further technical improvements that: the adjusting seat is internally provided with a driving motor at one side, the adjusting seat is internally provided with a connecting column fixedly connected with the clamping plate at the other side, and a driving column is arranged between the driving motor and the buffer seat.

The invention has further technical improvements that: a first fixing plate is fixedly arranged on one side inside the buffer seat, a second fixing plate is fixedly arranged on the other side inside the buffer seat, a limiting plate is fixedly arranged at one end, close to the driving motor, of the connecting column, the limiting plate is positioned in the buffer groove, and the first fixing plate is elastically connected with the limiting plate through a buffer spring; the limiting plate is used for limiting the moving distance of the connecting column, and the buffer spring is used for limiting the movement of the limiting plate in the buffer groove.

The invention has further technical improvements that: the drive column is through first fixed plate and buffer seat fixed connection, and splint keep away from one side of adjusting the seat and splice and be fixed with the buffering cotton, and the buffering cotton is the arcuation, and the buffering cotton can play the effect of increase frictional force and slow down the extrusion force.

The invention has further technical improvements that: the upper end of manipulator body is provided with first guide rail and fourth guide rail, and the fixed surface of fourth guide rail installs first slide, and the fourth guide rail has the lift post through first slide and first guide rail sliding connection, the lower extreme sliding connection of fourth guide rail.

The invention has further technical improvements that: the one end fixed mounting of first guide rail has the second slide, and the other end fixed mounting of first guide rail has the third slide, and one side of first guide rail is provided with the second guide rail, and the opposite side of first guide rail is provided with the third guide rail, and first guide rail passes through second slide and second guide rail sliding connection, and first guide rail passes through third slide and third guide rail sliding connection.

The invention has further technical improvements that: the upper end of the fourth guide rail is provided with a hydraulic cylinder for driving the lifting column to lift, the upper end of the first sliding seat is provided with a first motor for driving the fourth guide rail to move left and right, and the upper end of the second sliding seat is provided with a second motor for driving the first guide rail to move front and back.

Compared with the prior art, the invention has the beneficial effects that:

1. when the clamping plate and the buffering cotton are not matched with the side surfaces of the materials, the driving motor drives the driving column to rotate, the driving column drives the buffering seat and the connecting column to rotate, the connecting column rotates to drive the clamping plate to rotate until the rotated clamping plate and the rotated buffering cotton are matched with the side surfaces of the materials, so that the manipulator can be adaptively adjusted according to the types of the materials, and the use flexibility of the manipulator is improved;

2. when the manipulator clamps the materials, the buffer cotton is subjected to reverse thrust of the materials, so that the connecting column moves towards the direction far away from the materials, the connecting column pushes the limiting plate, the limiting plate moves towards the direction far away from the materials and pushes the buffer spring, and the buffer spring is extruded and contracted until the buffer spring stops contracting, so that the materials are buffered by the clamping plate, the defect that the materials are abraded by hard clamping in the existing scheme is overcome, and the material clamping effect is improved;

3. the limiting plate can restrict the displacement of spliced pole in the buffer slot, can restrict the removal of limiting plate in the buffer slot through buffer spring, and one side that the regulation seat was kept away from to splint is the arcuation, and the buffering cotton also is the arcuation, and splint and buffering cotton can be inseparabler with the material centre gripping that the side is the arcuation, can improve the stability of material centre gripping.

Drawings

The invention will be further described with reference to the accompanying drawings.

Fig. 1 is a front view of a feeding and discharging manipulator based on visual positioning.

Fig. 2 is a side view of the clamping mechanism of the present invention.

Fig. 3 is a cross-sectional view of an adjustment cup in accordance with the present invention.

Fig. 4 is a sectional view of a cushion seat in the present invention.

Fig. 5 is a perspective view showing the connection of the splint and the cushion cotton according to the present invention.

In the figure: 1. a first guide rail; 2. a second guide rail; 3. a third guide rail; 4. a fourth guide rail; 5. a first slider; 6. a second slide carriage; 7. a third slide carriage; 8. a lifting column; 9. a manipulator body; 901. a clamping mechanism; 9011. a first arm post; 9012. turning the column; 9013. a second arm post; 9014. an adjusting seat; 9015. a drive motor; 9016. a drive column; 9017. a buffer seat; 9018. connecting columns; 9019. a splint; 10. a first fixing plate; 11. a second fixing plate; 12. a buffer spring; 13. a limiting plate; 14. and (4) buffering cotton.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 to 5, the present invention is a feeding and discharging manipulator based on visual positioning, including a manipulator body 9, the manipulator body 9 includes a plurality of clamping mechanisms 901 and a fixing base, the plurality of clamping mechanisms 901 arranged and distributed at equal intervals are rotatably connected with the fixing base through fixing columns, the outer surface of the fixing base is provided with a plurality of fixing columns and rotating grooves arranged and distributed at equal intervals, the fixing columns are located inside the rotating grooves, the plurality of clamping mechanisms 901 are rotatably connected with the fixing columns, the plurality of clamping mechanisms 901 rotate in a vertical direction through the fixing columns, in this embodiment, the number of the clamping mechanisms 901 may be three, the upper end of the manipulator body 9 is provided with a first guide rail 1 and a fourth guide rail 4, the outer surface of the fourth guide rail 4 is fixedly provided with a first sliding seat 5, the first sliding groove is provided in the first sliding seat 5, the upper end of the first sliding seat 5 is provided with a first motor for driving the fourth guide rail 4 to move left and right, the fourth guide rail 4 is connected with the first guide rail 1 in a sliding manner through a first sliding seat 5, the lower end of the fourth guide rail 4 is connected with a lifting column 8 used for driving the manipulator body 9 to move up and down in a sliding manner, the upper end of a fixed seat is fixedly connected with the lower end of the lifting column 8, and the upper end of the fourth guide rail 4 is provided with a hydraulic cylinder used for driving the lifting column 8 to lift;

a second slide seat 6 is fixedly installed at one end of the first guide rail 1, a second sliding groove is formed in the second slide seat 6, a second motor used for driving the first guide rail 1 to move back and forth is arranged at the upper end of the second slide seat 6, a third slide seat 7 is fixedly installed at the other end of the first guide rail 1, a third sliding groove is formed in the third slide seat 7, a second guide rail 2 is arranged on one side of the first guide rail 1, a third guide rail 3 is arranged on the other side of the first guide rail 1, the first guide rail 1 is in sliding connection with the second guide rail 2 through the second slide seat 6, and the first guide rail 1 is in sliding connection with the third guide rail 3 through the third slide seat 7; the up-down movement of the lifting column 8, the left-right movement of the first slide carriage 5, and the front-back movement of the second slide carriage 6 and the third slide carriage 7 are all the existing technical solutions, and the specific operation steps are not described herein.

A camera and a plurality of illuminating lamps are arranged in the middle of the lower end of the fixing seat, wherein the camera is used for realizing visual positioning of materials, the illuminating lamps are used for supplementing light to the camera, and the illuminating lamps can be annularly distributed around the camera; the visual positioning in the embodiment is realized based on a positioning method of a single-frame image.

Adjusting the manipulator body 9 according to the position of the material to obtain the size of the material, wherein the material in the embodiment is cylindrical, the height and the radius of the material are obtained, the central point of the upper end of the material is set as an original point, a coordinate system is established according to a preset coordinate direction and a preset coordinate interval, the material is shot to obtain a material image, the material image is matched with a preset image library until the shape of the material in the material image is planar, the material image is set as a selected image, at this time, the manipulator body 9 is judged to be positioned right above the material, and the distance between a camera and the original point is obtained and marked as D1; label the height of the material as D2; marking the radius of the material as R; marking the vertical distance between the camera and the midpoint of the buffer cotton 14 as D3, marking the horizontal distance between the camera and the midpoint of the buffer cotton 14 as D4, performing normalization processing on each item of marked data, and taking values, and calculating and obtaining an adjustment coefficient of the manipulator body 9 by using a formula TX (mu × D1 × (a1 × (D3-D2) + a2 × (D4-R) +0.1277), wherein a1 and a2 are expressed as different proportional coefficients, μ is expressed as a compensation factor, and the value range is (0,15), and the value in the embodiment can be 0.52614;

matching the adjustment coefficient with a preset adjustment threshold, if the adjustment coefficient is not greater than the adjustment threshold, determining that the area enclosed by the plurality of clamping mechanisms 901 is smaller than the clamping area of the material, generating an adjustment instruction, and controlling the plurality of clamping mechanisms 901 to move around according to the adjustment instruction, so that the area enclosed by the plurality of clamping mechanisms 901 becomes larger; in this embodiment, the area enclosed by the three clamping mechanisms 901 is triangular, and the midpoint of the buffer cotton 14 on the clamping mechanisms 901 is the vertex of the triangle.

Referring to fig. 2, the clamping mechanism 901 includes a first arm column 9011 and a second arm column 9013 for rotation, and an adjusting seat 9014 for adjustment, wherein a connection ring is disposed at an upper end of the first arm column 9011, the first arm column 9011 is rotatably connected to a fixed column through the connection ring, a rotation column 9012 is disposed between the first arm column 9011 and the second arm column 9013, the second arm column 9013 is rotatably connected to the first arm column 9011 through the rotation column 9012, the adjusting seat 9014 is fixedly mounted at a bottom end of the second arm column 9013, and a clamping plate 9019 is connected to one side of the adjusting seat 9014, wherein when the adjusting seat 9014 adjusts the position of the clamping plate 9019, an adjustment angle is one hundred eighty degrees, an adjustment direction is not required, the adjustment direction may be counterclockwise or clockwise, and the clamping plate 9019 is adjusted in position, so that the clamping plate 19 is more tightly attached to the material, and the up-down movement of the material is more stable.

Referring to fig. 3, a buffer seat 9017 is arranged inside the adjusting seat 9014, the buffer seat 9017 may be annular and is convenient to rotate inside the adjusting seat 9014, a driving motor 9015 is arranged at one side inside the adjusting seat 9014, a connecting column 9018 fixedly connected to the clamping plate 9019 is arranged at the other side inside the adjusting seat 9014, a driving column 9016 is installed between the driving motor 9015 and the buffer seat 9017, the driving motor 9015 is used for driving the driving column 9016 to rotate, the driving column 9016 drives the buffer seat 9017 and the connecting column 9018 to rotate when rotating, and the connecting column 9018 drives the clamping plate 9019 to rotate, so that the clamping plate 9019 can clamp different types of materials, and the purpose of improving the material clamping stability is achieved.

Please refer to fig. 4, a buffer groove and a buffer spring 12 are arranged inside the buffer seat 9017, the buffer spring 12 is located in the buffer groove, a first fixing plate 10 is fixedly mounted on one side inside the buffer seat 9017, a second fixing plate 11 is fixedly mounted on the other side inside the buffer seat 9017, the first fixing plate 10 and the second fixing plate 11 both play a role in fixation and isolation, the driving column 9016 is fixedly connected with the buffer seat 9017 through the first fixing plate 10, one end of the connecting column 9018, which is far away from the clamping plate 9019, penetrates through the second fixing plate 11, one end of the connecting column 9018, which is close to the driving motor 9015, is fixedly mounted with a limiting plate 13, the limiting plate 13 is located in the buffer groove, the height of the limiting plate 13 is the same as that of the second fixing plate 11, the limiting plate 13 is used for limiting the moving distance of the connecting column 9018, the first fixing plate 10 is elastically connected with the limiting plate 13 through the buffer spring 12, and the buffer spring 12 is used for limiting the moving of the limiting plate 13 in the buffer groove.

Referring to fig. 5, one side of the clamping plate 9019, which is away from the adjusting seat 9014, is fixedly glued with buffer cotton 14, the buffer cotton 14 can play a role in increasing friction force, an area surrounded by the clamping plates 9019 on the three clamping mechanisms 901 is used for clamping a material, the three clamping mechanisms 901 are arranged at equal intervals, so that the stability of clamping the material can be improved, one side of the clamping plate 9019, which is away from the adjusting seat 9014, is arc-shaped, and the buffer cotton 14 is also arc-shaped, the clamping plate 9019 and the buffer cotton 14 in the embodiment are used for clamping a material with an arc-shaped side, and include, but are not limited to, cylindrical, spherical and the like; the shape of the side surface of the clamping plate 9019 can be adjusted adaptively according to the shape of the material.

The working principle of the invention is as follows: when the manipulator moves to a preset feeding position through the first sliding seat 5, the second sliding seat 6, the third sliding seat 7 and the lifting column 8, the manipulator body 9 controls the plurality of clamping mechanisms 901 to clamp a material, the first arm column 9011 rotates towards the material through the fixed column, the second arm column 9013 rotates towards the material through the rotary column 9012, and the adjusting seat 9014 moves towards the material through the rotation of the first arm column 9011 and the second arm column 9013;

when the clamping plate 9019 and the buffer cotton 14 are not matched with the side face of the material, the driving motor 9015 drives the driving column 9016 to rotate, the driving column 9016 rotates to drive the buffer seat 9017 and the connecting column 9018 to rotate, and the connecting column 9018 rotates to drive the clamping plate 9019 to rotate until the rotated clamping plate 9019 and the buffer cotton 14 are matched with the side face of the material, for example, the cylindrical material is horizontally placed, the clamping plate 9019 and the buffer cotton 14 are vertically arranged, and the vertical arc-shaped clamping plate 9019 and the buffer cotton 14 are not matched with the horizontally placed material; the clamping plates 9019 are also horizontally arranged by adjusting the positions of the clamping plates 9019;

the adjusting seats 9014 on the plurality of clamping mechanisms 901 are controlled to move towards the material from different directions and clamp the material, when the buffer cotton 14 is contacted with the material and clamped tightly, the buffer cotton 14 is pushed reversely by the material, so that the connecting column 9018 moves towards the direction far away from the material, the connecting column 9018 pushes the limiting plate 13, the limiting plate 13 moves towards the direction far away from the material and pushes the buffer spring 12, and the buffer spring 12 is pushed and contracted until the buffer spring 12 stops contracting, so that the material is clamped; and finally, moving the material to a preset blanking position through the first sliding seat 5, the second sliding seat 6, the third sliding seat 7 and the lifting column 8.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be directly connected or indirectly connected through an intermediate member, or they may be connected through two or more elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

While one embodiment of the present invention has been described in detail, the description is only a preferred embodiment of the present invention and should not be taken as limiting the scope of the invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.

Claims

1. The utility model provides a go up unloading manipulator based on vision location, including manipulator body (9), manipulator body (9) include a plurality of fixture (901), a serial communication port, fixture (901) are including being used for pivoted first arm post (9011) and second arm post (9013) and being used for the regulation seat (9014) of adjusting, the inside of adjusting seat (9014) is provided with buffer seat (9017), the inside of buffer seat (9017) is provided with dashpot and buffer spring (12), the one side of adjusting seat (9014) is connected with splint (9019).

2. The feeding and discharging manipulator based on visual positioning as claimed in claim 1, wherein the manipulator body (9) further comprises a fixed seat, a camera for visual positioning is arranged in the middle of the lower end of the fixed seat, and a plurality of clamping mechanisms (901) which are arranged and distributed at equal intervals are rotatably connected with the fixed seat through fixed columns.

3. The feeding and discharging manipulator based on visual positioning as claimed in claim 2, wherein a rotary column (9012) is installed between the first arm column (9011) and the second arm column (9013), the second arm column (9013) is rotatably connected with the first arm column (9011) through the rotary column (9012), and the adjusting seat (9014) is fixedly installed at the bottom end of the second arm column (9013).

4. The feeding and discharging manipulator based on visual positioning as claimed in claim 3, wherein a driving motor (9015) is arranged at one side position inside the adjusting seat (9014), a connecting column (9018) fixedly connected with the clamping plate (9019) is arranged at the other side position inside the adjusting seat (9014), and a driving column (9016) is arranged between the driving motor (9015) and the buffer seat (9017).

5. The feeding and discharging mechanical arm based on visual positioning as claimed in claim 4, wherein a first fixing plate (10) is fixedly mounted on one side inside the buffer seat (9017), a second fixing plate (11) is fixedly mounted on the other side inside the buffer seat (9017), a limiting plate (13) is fixedly mounted at one end, close to the driving motor (9015), of the connecting column (9018), and the first fixing plate (10) and the limiting plate (13) are elastically connected through a buffer spring (12).

6. The vision positioning-based feeding and discharging mechanical arm is characterized in that the driving column (9016) is fixedly connected with the buffer seat (9017) through the first fixing plate (10).

7. The feeding and discharging mechanical arm based on visual positioning as claimed in claim 6, wherein the side of the clamping plate (9019) away from the adjusting seat (9014) is fixed with the buffer cotton (14) in a glued manner, and the buffer cotton (14) is arc-shaped.

8. The loading and unloading manipulator based on visual positioning as claimed in claim 7, wherein a first guide rail (1) and a fourth guide rail (4) are arranged in the middle of the upper end of the manipulator body (9), and a second guide rail (2) and a third guide rail (3) are respectively arranged on the two sides of the upper end of the manipulator body (9).