CN207942401U - Different model standardizes hopper robot vision and scans grabbing device - Google Patents
Different model standardizes hopper robot vision and scans grabbing device Download PDFInfo
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- CN207942401U CN207942401U CN201721863687.7U CN201721863687U CN207942401U CN 207942401 U CN207942401 U CN 207942401U CN 201721863687 U CN201721863687 U CN 201721863687U CN 207942401 U CN207942401 U CN 207942401U
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Abstract
The utility model is related to different model standardization hopper robot vision to scan grabbing device, robot body top is mechanical arm, lower part is robot base, the upper end of mechanical arm connects handgrip by mechanical arm connection, robot base drives pedestal pulley by base electrical machinery, it is slided in base slide, handgrip clamps body feed tank, and vision camera and light aid is arranged in lower part；Controller connects the code reader of body feed tank for identification, and controller controls handgrip, vision camera, light aid, mechanical arm and base electrical machinery.The utility model automatic identification, record, crawl, classification, storage and pile improve handling efficiency, save manpower.
Description
Technical field
The utility model is related to robotic standard hoppers to capture technical field more particularly to a kind of automatic identification, note automatically
Record, crawl, classification, storage and pile, raising handling efficiency, labor-saving different model standardization hopper robot vision are swept
Retouch grabbing device.
Background technology
Currently, being close to the cargo de-stacking of arrangement for standard hopper on pallet and standard hopper being close to pile on pallet
When, factory is generally scanned classification to hopper by worker's handheld scan gun and then is manually carried, this working method
Disadvantage：One, manual operation is time-consuming and laborious；Two, working efficiency is relatively low；Three, error probability is higher；Four, operating area area is occupied
Greatly.Mostly use the space efficiency utilization higher that hopper of the same race is combined transport not as good as a variety of hopper combined traffics greatly at present.With
The continuous development of science and technology, under the overall background of industry 4.0, factory replaces automation equipment operation the mode of traditional artificial operation
It more pays close attention to, the shortcomings that for traditional standard hopper transport operation mode, is developed based on different model and is close to arrange standard material
Automatic de-stacking/stacking device system of case, the efficiency saved manpower, improve hopper carrying, and can be with tiered warehouse facility and machine
Transport line coordinates, and realizes the unified automated job of the crawl of standard hopper, classification, storage and pile.
Need a kind of automatic identification, record, crawl, classification, storage and pile, improve handling efficiency, it is labor-saving not
Grabbing device is scanned with model standardization hopper robot vision.
Utility model content
The purpose of this utility model is to provide a kind of automatic identification, record, crawl, classification, storage and pile, improves and carry
Efficiency, labor-saving different model standardization hopper robot vision scan grabbing device.
Different model standardizes hopper robot vision and scans grabbing device, including：
Robot body, the robot body top be mechanical arm, lower part is robot base, the mechanical arm it is upper
End connects handgrip by mechanical arm connection, and the robot base drives pedestal pulley by base electrical machinery, in base slide
Sliding, the handgrip clamp body feed tank, and vision camera and light aid is arranged in lower part；
Controller, the controller connect the code reader of body feed tank for identification, and the controller controls handgrip, and vision is taken the photograph
Camera, light aid, mechanical arm and base electrical machinery.
The code reader is located on robot base.
The top surrounding setting support edge of the body feed tank, the support are described fixed along upper setting location hole and locking hole
Position hole is round hole, and the locking hole is slotted eye.
The controller connects liquid crystal display.
The fixing bracket of the handgrip coordinates with mechanical arm connection, and lengthwise position regulating device is arranged on the fixing bracket
With lateral position regulating device.
The longitudinal motor of the lengthwise position regulating device drives first annular band, is fixed around be fixed on both ends first
Wheel rotation, is arranged the first sliding rail, the first sliding block, institute is arranged on first sliding rail between the longitudinal motor and the first fast pulley
It states and fixes cylinder and the first cylinder on the first sliding block, and moved on the first sliding rail under the driving of first annular band, it is described solid
Determine cylinder driving supporting rod, first cylinder drives the first check lock lever, the first positioning of side setting of first check lock lever
Pin.
The cross motor of the lateral position regulating device drives the second endless belt, is fixed around be fixed on both ends second
The second sliding rail is arranged in wheel rotation between the cross motor and the second fast pulley, the second sliding block is arranged in second sliding rail, described
Second cylinder is set on the second sliding block, and is moved along the second sliding rail under the driving of the second endless belt, second cylinder drives
The second positioning pin is arranged in the side of dynamic second check lock lever, second check lock lever.
The top of first check lock lever or the second check lock lever is gear, the gear and the first cylinder or the second cylinder
Working beam engages, and is connected to force snesor by connecting rod, the lower side setting of the connecting rod declines block, and the power passes
Sensor is stretched out towards the outside of connecting rod, and connects controller.
The top of the supporting rod is vertically arranged irregular gear, and lower part is L-shaped bar, the irregular gear and the
The working beam of one cylinder engages, and center is fixed on the first sliding block, and around axis rotation.
The longitudinal motor, fixed cylinder and the first cylinder are separately connected controller or cross motor and the second cylinder
It is separately connected controller.
The utility model robot body top is mechanical arm, and lower part is robot base, and the upper end of mechanical arm passes through machine
Tool arm connection connects handgrip, and robot base drives pedestal pulley by base electrical machinery, slided in base slide, handgrip is clamped
Vision camera and light aid is arranged in body feed tank, lower part；Controller connects the code reader of body feed tank for identification, controller control
Handgrip, vision camera, light aid, mechanical arm and base electrical machinery.The mechanical arm connection of robot body connects handgrip, controller
Control machinery arm moves in three dimensions, and handgrip is driven to adjust position.Handgrip is carried for capturing body feed tank, is grabbed
The vision camera in subordinate portion takes pictures to body feed tank, and gives photo to controller processing, and controller analyzes body feed tank
Position, and the position for adjusting handgrip is aligned, light aid carries out light filling to vision camera.The robot bottom of robot body
Seat and base slide are coordinated by pedestal pulley, and motor driving pedestal pulley slides in base slide, controller control
Motor adjusts the position of robot body.Code reader carries out barcode scanning to body feed tank, and gives information to controller record.This practicality
New type auto identification, record, crawl, classification, storage and pile improve handling efficiency, save manpower.
Description of the drawings
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the vertical view of the utility model handgrip to stereogram；
Fig. 3 looks up for the utility model handgrip to stereogram；
Fig. 4 is the front view of the utility model handgrip；
Fig. 5 is the stereogram of the utility model supporting rod and the first positioning pin；
Fig. 6 is the stereogram of the first check lock lever of the utility model or the second check lock lever；
Fig. 7 is the partial bottom view of the utility model body feed tank；
Fig. 8 is the annexation figure of the utility model；
In figure：1, robot body, 2, base slide, 3, handgrip, 4, code reader, 5, vision camera, 6, light aid, 7,
Body feed tank, 8, controller, 9, liquid crystal display, 11, mechanical arm, 12, robot base, 13, pedestal pulley, 14, base electrical machinery, 15,
Mechanical arm connection, 31, fixing bracket, 32, longitudinal motor, 33, first annular band, the 34, first fast pulley, the 35, first sliding rail,
36, the first sliding block, 37, fixed cylinder, 38, supporting rod, the 39, first cylinder, the 40, first check lock lever, the 41, first positioning pin, 42,
Gear, 43, connecting rod, 44, decline block, 45, force snesor, 51, cross motor, the 52, second endless belt, 53, second fixes
Wheel, the 54, second sliding rail, the 55, second sliding block, the 56, second cylinder, the 57, second check lock lever, the 58, second positioning pin, 71, support edge,
72, location hole, 73, locking hole.
Specific implementation mode
Below in conjunction with the drawings and specific embodiments, the utility model is described further.
Different model standardizes hopper robot vision and scans grabbing device, including：Robot body 1, robot body 1
Top is mechanical arm 11, and lower part is robot base 12, and the upper end of mechanical arm 11 connects handgrip 3, machine by mechanical arm connection 15
Device people pedestal 12 drives pedestal pulley 13 by base electrical machinery 14, is slided in base slide 2, and handgrip 3 clamps body feed tank 7, under
Vision camera 5 and light aid 6 is arranged in portion；Controller 8, controller 8 connect the code reader 4 of body feed tank 7 for identification, controller
8 control handgrips 3, vision camera 5, light aid 6, mechanical arm 11 and base electrical machinery 14.Code reader 4 is located at robot base 12
On.The top surrounding setting support of body feed tank 7 is along 71, and location hole 72 is arranged along 71 for support and locking hole 73, location hole 72 are
Round hole, locking hole 73 are slotted eye.Controller 8 connects liquid crystal display 9.
The fixing bracket 31 of handgrip 3 coordinates with mechanical arm connection 15, and lengthwise position regulating device is arranged on fixing bracket 31
With lateral position regulating device.The longitudinal motor 32 of lengthwise position regulating device drives first annular band 33, around being fixed on two
First fast pulley 34 rotation at end, is arranged the first sliding rail 35, on the first sliding rail 35 between longitudinal motor 32 and the first fast pulley 34
First sliding block 36 is set, fixes cylinder 37 and the first cylinder 39 on the first sliding block 36, and under the driving of first annular band 33
It is moved on first sliding rail 35, fixed cylinder 37 drives supporting rod 38, the first cylinder 39 to drive the first check lock lever 40, the first check lock lever
The first positioning pin 41 is arranged in 40 side.The cross motor 51 of lateral position regulating device drives the second endless belt 52, around solid
It is scheduled on the second fast pulley 53 rotation at both ends, the second sliding rail 54 is set between cross motor 51 and the second fast pulley 53, second slides
The second sliding block 55 is arranged in rail 54, is arranged the second cylinder 56 on the second sliding block 55, and along the under the driving of the second endless belt 52
Two sliding rails 54 move, and the second cylinder 56 drives the second check lock lever 57, the side of the second check lock lever 57 that the second positioning pin 58 is arranged.The
The top of one check lock lever 40 or the second check lock lever 57 is gear 42, the working beam of gear 42 and the first cylinder 39 or the second cylinder 56
Engagement is connected to force snesor 45 by connecting rod 43, and the lower side setting of connecting rod 43 declines block 44, force snesor 45
It is stretched out towards the outside of connecting rod 43, and connects controller 8.The top of supporting rod 38 is vertically arranged irregular gear, under
Portion is L-shaped bar, and irregular gear is engaged with the working beam of the first cylinder 39, and center is fixed on the first sliding block 36, and around axle center
Rotation.Longitudinal motor 32, fixed 37 and first cylinder 39 of cylinder are separately connected controller 8 or cross motor 51 and the second gas
Cylinder 56 is separately connected controller 8.
The mechanical arm connection 15 of robot body 1 connects handgrip 3, and 8 control machinery arm 11 of controller is transported in three dimensions
It is dynamic, drive handgrip 3 to adjust position.Handgrip 3 is carried for capturing body feed tank 7, and the vision camera 5 of 3 lower part of handgrip is right
Body feed tank 7 is taken pictures, and is given photo to controller 8 and handled, and controller 8 analyzes the position of body feed tank 7, and adjusts handgrip 3
Position be aligned, light aid 6 to vision camera 5 carry out light filling.The robot base 12 and pedestal of robot body 1 are slided
Rail 2 is coordinated by pedestal pulley 13, and motor 14 drives pedestal pulley 13 to be slided in base slide 2, and controller 8 controls electricity
Machine 14 adjusts the position of robot body 1.Code reader 4 carries out barcode scanning to body feed tank 7, and gives information to controller 8 and record.
The fixing bracket 31 of handgrip 3 coordinates with mechanical arm connection 15, and longitudinal motor 32 drives first annular band 33, around solid
It is scheduled on the first fast pulley 34 rotation at both ends, the first sliding rail 35 is set between longitudinal motor 32 and the first fast pulley 34, first slides
Rail 35 is respectively placed in the both ends of longitudinal motor 32.First sliding block 36, the driving of first annular band 33 first are set on first sliding rail 35
Sliding block 36 moves on the first sliding rail 35, and first annular band 33 is engaged with the first sliding block 36 by rack, two the first sliding blocks 36
Rack is set in side respectively, and rack is set in not homonymy respectively.Cylinder 37 and the first cylinder 39 are fixed on first sliding block 36,
Fixed cylinder 37 drives supporting rod 38, the first cylinder 39 to drive the first check lock lever 40.The working beam of first cylinder 39 is equipped with tooth
Item is engaged with the gear 42 on 40 top of the first check lock lever, the working beam straight reciprocating motion of the first cylinder 39, drives the first locking
40 rotation of bar, gear 42 are connected to force snesor 45 by connecting rod 43, and the top setting of force snesor 45 declines block 44, the
One check lock lever 40 is arranged on the first sliding block 36.The first positioning pin 41, the first positioning pin 41 is arranged in the side of first check lock lever 40
It is fixed on the first sliding block 36.
Cross motor 51 drives the second endless belt 52, is rotated around the second fast pulley 53 for being fixed on both ends, cross motor
51 and second the second sliding rail 54 is arranged between fast pulley 53, and the second sliding block 55, the quantity of the second sliding rail 54 is arranged in the second sliding rail 54
It is two, is located at 51 both sides of cross motor.Second endless belt 52 is engaged with the second sliding block 55, two the second sliding block 55 difference
Rack is set in side, and is separately positioned on not homonymy.
Second cylinder 56 is set on second sliding block 55, and is transported along the second sliding rail 54 under the driving of the second endless belt 52
It is dynamic, rack is set on the working beam of the second cylinder 56, is engaged with the upper gear 42 of the second check lock lever 57, the work of the second cylinder 56
Make bar straight reciprocating motion, drives 57 rotation of the second check lock lever, gear 42 to be connected to force snesor 45 by connecting rod 43, power passes
The top setting of sensor 45 declines block 44, and the second check lock lever 57 is arranged on the second sliding block 55.The side of second check lock lever 57
Second positioning pin 58 is set, and the second positioning pin 58 is fixed on the first sliding block 36.
The top of supporting rod 38 is vertically arranged irregular gear, and lower part is L-shaped bar, irregular gear and the first cylinder
39 working beam engagement, center are fixed on the first sliding block 36, and around axis rotation.The working beam driving support of first cylinder 39
Bar 38 rotates.Controller 8 drives handgrip 3 to move to 7 top of body feed tank, after 5 photographic analysis of vision camera, by the first positioning
Location hole 72 on pin 41 and the second positioning pin 58 alignment body feed tank 7, puts in and is positioned.First check lock lever 40 and second is locked
Tight bar 57 is also extend into locking hole 73, and controller 8 controls the first check lock lever 40 and the rotation of the second check lock lever 57, force snesor 45
The support of body feed tank 7 is blocked after rotation along 71.Controller 8 controls supporting rod 38 and rotates, and blocks the support of body feed tank 7 along 71.Control
Device 8 processed connects liquid crystal display 9, realizes interactive function, is shown and be arranged.
The basic principles and main features and advantage of the utility model have been shown and described above.The technical staff of the industry
It should be appreciated that the present utility model is not limited to the above embodiments, the above embodiments and description only describe this
The principle of utility model, on the premise of not departing from the spirit and scope of the utility model the utility model also have various change and
It improves, these various changes and improvements fall within the scope of the claimed invention.The utility model requires protection scope by
Appended claims and its equivalent define.
Claims (11)
1. different model standardizes hopper robot vision and scans grabbing device, which is characterized in that including：
Robot body (1), robot body (1) top are mechanical arm (11), and lower part is robot base (12), described
The upper end of mechanical arm (11) connects handgrip (3) by mechanical arm connection (15), and the robot base (12) passes through base electrical machinery
(14) driving pedestal pulley (13), is slided in base slide (2), and the handgrip (3) clamps body feed tank (7), and lower part setting regards
Feel video camera (5) and light aid (6)；
Controller (8), the controller (8) connect the code reader (4) of body feed tank (7) for identification, controller (8) control
Handgrip (3), vision camera (5), light aid (6), mechanical arm (11) and base electrical machinery (14).
2. different model standardization hopper robot vision according to claim 1 scans grabbing device, which is characterized in that
The code reader (4) is located on robot base (12).
3. different model standardization hopper robot vision according to claim 1 scans grabbing device, which is characterized in that
The top surrounding setting support of the body feed tank (7) is along (71), the support setting location hole (72) and locking hole on (71)
(73), the location hole (72) is round hole, and the locking hole (73) is slotted eye.
4. different model standardization hopper robot vision according to claim 1 scans grabbing device, which is characterized in that
Controller (8) the connection liquid crystal display (9).
5. different model standardization hopper robot vision according to claim 1 scans grabbing device, which is characterized in that
The fixing bracket (31) of the handgrip (3) coordinates with mechanical arm connection (15), and lengthwise position is arranged on the fixing bracket (31)
Regulating device and lateral position regulating device.
6. different model standardization hopper robot vision according to claim 5 scans grabbing device, which is characterized in that
The longitudinal motor (32) of the lengthwise position regulating device drives first annular band (33), is fixed around be fixed on both ends first
(34) rotation is taken turns, the first sliding rail (35), first sliding rail are set between the longitudinal motor (32) and the first fast pulley (34)
(35) the first sliding block (36) is set on, fixes cylinder (37) and the first cylinder (39) on first sliding block (36), and first
It is moved on the first sliding rail (35) under the driving of endless belt (33), fixed cylinder (37) the driving supporting rod (38), described the
One cylinder (39) drives the first check lock lever (40), the side of first check lock lever (40) that the first positioning pin (41) is arranged.
7. different model standardization hopper robot vision according to claim 5 scans grabbing device, which is characterized in that
Cross motor (51) driving the second endless belt (52) of the lateral position regulating device is fixed around be fixed on both ends second
(53) rotation is taken turns, the second sliding rail (54), second sliding rail are set between the cross motor (51) and the second fast pulley (53)
(54) the second sliding block (55) is set, the second cylinder (56) is set on second sliding block (55), and in the second endless belt (52)
It is moved along the second sliding rail (54) under driving, second cylinder (56) drives the second check lock lever (57), second check lock lever
(57) the second positioning pin (58) is arranged in side.
8. different model standardization hopper robot vision according to claim 6 scans grabbing device, which is characterized in that
The top of first check lock lever (40) is gear (42), and the gear (42) is engaged with the working beam of the first cylinder (39), is led to
It crosses connecting rod (43) and is connected to force snesor (45), the lower side setting of the connecting rod (43) declines block (44), described
Force snesor (45) is stretched out towards the outside of connecting rod (43), and connects controller (8).
9. different model standardization hopper robot vision according to claim 7 scans grabbing device, which is characterized in that
The top of second check lock lever (57) is gear (42), and the gear (42) is engaged with the working beam of the second cylinder (56), is led to
It crosses connecting rod (43) and is connected to force snesor (45), the lower side setting of the connecting rod (43) declines block (44), described
Force snesor (45) is stretched out towards the outside of connecting rod (43), and connects controller (8).
10. different model standardization hopper robot vision according to claim 6 scans grabbing device, feature exists
It is vertically arranged irregular gear in the top of, the supporting rod (38), lower part is L-shaped bar, the irregular gear and the
The working beam of one cylinder (39) engages, and center is fixed on the first sliding block (36), and around axis rotation.
11. any different model standardization hopper robot vision of according to claim 6 or 7 scans grabbing device,
It is characterized in that, the longitudinal motor (32), fixed cylinder (37) and the first cylinder (39) are separately connected controller (8), or horizontal
It is separately connected controller (8) to motor (51) and the second cylinder (56).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721863687.7U CN207942401U (en) | 2017-12-27 | 2017-12-27 | Different model standardizes hopper robot vision and scans grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721863687.7U CN207942401U (en) | 2017-12-27 | 2017-12-27 | Different model standardizes hopper robot vision and scans grabbing device |
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| Publication Number | Publication Date |
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| CN207942401U true CN207942401U (en) | 2018-10-09 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109514530A (en) * | 2018-11-29 | 2019-03-26 | 浙江树人学院 | A kind of mechanical arm and its grasping means |
| CN110844549A (en) * | 2019-11-29 | 2020-02-28 | 安徽悦得自动化有限公司 | Code robot mechanism is swept to production line multi-angle |
-
2017
- 2017-12-27 CN CN201721863687.7U patent/CN207942401U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109514530A (en) * | 2018-11-29 | 2019-03-26 | 浙江树人学院 | A kind of mechanical arm and its grasping means |
| CN110844549A (en) * | 2019-11-29 | 2020-02-28 | 安徽悦得自动化有限公司 | Code robot mechanism is swept to production line multi-angle |
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