CN215395248U - Binocular vision robot capable of automatically removing wall hanging objects of large grain storage tank - Google Patents
Binocular vision robot capable of automatically removing wall hanging objects of large grain storage tank Download PDFInfo
- Publication number
- CN215395248U CN215395248U CN202121495371.3U CN202121495371U CN215395248U CN 215395248 U CN215395248 U CN 215395248U CN 202121495371 U CN202121495371 U CN 202121495371U CN 215395248 U CN215395248 U CN 215395248U
- Authority
- CN
- China
- Prior art keywords
- drill bit
- robot
- storage tank
- binocular vision
- grain storage
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a binocular vision robot for automatically removing hanging objects on the wall of a large grain storage tank, which comprises: remove seat, robot arm, two mesh visual detection device, first drill bit and robot controller, robot arm sets up on removing the seat, the last cantilever that extends to removal seat the place ahead that is provided with of robot arm, two mesh visual detection device set up on removing seat or robot arm, the cantilever end is provided with the carrier, be provided with a drill bit drive arrangement on the carrier, first drill bit setting is on first drill bit drive arrangement and point downwards. Through the mode, the binocular vision robot for automatically removing the wall hanging objects of the large-sized grain storage tank detects the hardening condition of grains by using the binocular vision detection device, moves the first drill bit to the hardening position through the robot arm, drives the first drill bit to drill down to break the hardened wall hanging objects, and achieves smooth grain delivery.
Description
Technical Field
The utility model relates to the field of vision robots, in particular to a binocular vision robot capable of automatically removing hung objects on the wall of a large grain storage tank.
Background
The grain storage tank is a container for storing grains, and in order to increase the capacity, the diameter of part of large grain storage tank reaches tens of meters, the volume is huge, and thousands of tons of grains can be stored.
In order to prevent moisture and insects, the grain storage tank is usually sealed, the grain storage tank is heated by sunlight in hot weather, and the internal temperature of the grain storage tank is even up to more than 60 ℃ due to the self-heating of grains, so that the grain storage tank is difficult to be effectively cooled in hot weather even if a ventilation mechanism is added. The high temperature environment makes the grain in the grain storage tank easy to harden, especially the soybean is easy to harden and combines with the wall of the grain storage tank to form a wall hanging object, which causes difficult grain delivery, and needs to be improved.
SUMMERY OF THE UTILITY MODEL
The utility model mainly solves the technical problem of providing a binocular vision robot for automatically removing hanging objects on the wall of a large grain storage tank, identifying and destroying the hanging objects on the inner wall of the grain storage tank, and improving the delivery smoothness.
In order to solve the technical problems, the utility model adopts a technical scheme that: the utility model provides a binocular vision robot of thing is hung to automatic clear large-scale grain storage tank wall, includes: remove seat, robot arm, two mesh visual detection device, first drill bit and robot controller, robot arm sets up on removing the seat, the last cantilever that extends to removal seat the place ahead that is provided with of robot arm, two mesh visual detection device set up on removing seat or robot arm, the cantilever end is provided with the carrier, be provided with first drill bit drive arrangement on the carrier, first drill bit setting is on first drill bit drive arrangement and points downwards, robot controller is connected with robot arm and carries out motion control.
In a preferred embodiment of the present invention, the movable base is a crawler-type movable base.
In a preferred embodiment of the present invention, the binocular vision detecting device is connected to the robot controller for signal transmission.
In a preferred embodiment of the present invention, the robot controller is connected to the movable base for displacement control.
In a preferred embodiment of the present invention, a lifting lug is disposed in the middle of the top surface of the carrier, a pin seat pinned with the lifting lug is disposed at the end of the cantilever, and a pin shaft extending into the pin seat is disposed on the lifting lug to form a universal joint structure.
In a preferred embodiment of the present invention, the carrier is an arc-shaped plate, and the first drill driving device is disposed in the middle of the bottom surface of the arc-shaped plate.
In a preferred embodiment of the present invention, the bottom surface of the arc plate is symmetrically provided with second drill bit driving devices located at two sides of the first drill bit driving device, and the bottoms of the second drill bit driving devices are respectively provided with second drill bits.
In a preferred embodiment of the present invention, the robot controller is connected to the first drill driving device and the second drill driving device for rotation control, and the first drill driving device and the second drill driving device respectively use motors.
In a preferred embodiment of the present invention, a level sensor is disposed on the carrier, and the level sensor is connected to the robot controller for signal transmission.
In a preferred embodiment of the present invention, a mobile power source located behind the robot arm is disposed on the mobile seat, and the mobile power source is connected with the robot controller for supplying power.
The utility model has the beneficial effects that: the binocular vision robot for automatically removing the wall hanging objects of the large grain storage tank is characterized in that the binocular vision robot is hoisted to enter the upper portion of grains in the grain storage tank from an opening in the top of the grain storage tank, a robot arm is driven to move on the top surface of the grains through a moving seat, the hardening condition of the grains is detected by using a binocular vision detection device, a three-dimensional graph is obtained, once the grains are hardened to form the wall hanging objects, the wall hanging objects can move to the front of the hardening position, a first drill bit is moved to the hardening position through the robot arm, downward drilling is carried out through the first drill bit, hardening is broken, smooth downward moving of the grains out of a bin is achieved, finally, the binocular vision robot is driven out from an outlet in the bottom of the grain storage tank, and the degree of automation is high.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:
FIG. 1 is a schematic structural diagram of a binocular vision robot for automatically removing wall hanging objects of a large-sized grain storage tank according to a preferred embodiment of the present invention;
fig. 2 is a top view of the carrier of fig. 1.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all 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 2, an embodiment of the present invention includes:
the binocular vision robot for automatically removing the wall hanging objects of the large grain storage tank as shown in figure 1 comprises: remove seat 4, robot arm 1, binocular vision detection device 2, first drill bit 9 and robot controller 14, robot arm 1 sets up on removing seat 4, and in this embodiment, remove seat 4 and adopt crawler-type to remove the seat (built-in track actuating mechanism based on servo motor), can walk on the grain in the storage grain tank to be connected with removing seat 4 through robot controller 14, carry out the displacement control who removes seat 4.
In this embodiment, the binocular vision detection device 2 is disposed on the movable seat 4 or the robot arm 1, the binocular vision detection device 2 is connected with the robot controller for signal transmission, the binocular vision detection device 2 is used for detecting the hardening condition of the grain, a three-dimensional figure is obtained, and once the grain is hardened to form a wall hanging object, the movable seat 4 can be moved to the front of the hardening position.
As shown in fig. 1, be provided with the cantilever 5 that extends to the 4 the place ahead of removal seat on the robot arm 1, 5 ends of cantilever are provided with carrier 7, be provided with first drill bit drive arrangement 8 on the carrier 7, first drill bit 9 sets up on first drill bit drive arrangement 8 and points downwards, as shown in fig. 2, carrier 7 adopts the arc, the excircle diameter and the storage grain tank internal diameter of arc correspond, or slightly less than storage grain tank internal diameter, it is spacing to carry out the removal of carrier 7 through the storage grain tank inner wall, promote and remove the security.
First drill bit drive arrangement 8 adopts the screw fixation at the middle part of arc bottom surface, keeps the vertical angle down of first drill bit 9, is favorable to moving down and breaking out and harden. The robot controller 14 is connected with the robot arm 1 to perform motion control, so that the horizontal and vertical directions of the cantilever 5 and the carrier 7 are adjusted. In the embodiment, the vehicle 7 is provided with a level sensor 11 for detecting the level state of the vehicle 7, the level sensor 11 is connected with the robot controller 14 for signal transmission, the level state data of the vehicle 7 is acquired in real time, and after an abnormality is found, the vehicle is adjusted and restored to the level state through the action of the robot arm 1.
The middle part of the top surface of the carrier 7 is provided with a lifting lug 13, the tail end of the cantilever 5 is provided with a pin boss 6 which is connected with the lifting lug 13 in a pin mode, in the embodiment, the pin boss 6 is of a C-shaped structure, the lifting lug 13 is of a cylinder structure with the top extending into the pin boss 6, a pin shaft 12 extending into the pin boss 6 is arranged on the lifting lug 13, a pin hole corresponding to the pin shaft 12 is formed in the pin boss 6, the assembly is convenient, a universal joint structure is formed, the horizontal position of the carrier 7 and the vertical downward direction of the first drill bit 9 are favorably kept, and the inner wall of the grain storage tank is prevented from being damaged.
In this embodiment, the bottom surface of the arc-shaped plate (carrier 7) is symmetrically provided with second drill bit driving devices 10 located at two sides of the first drill bit driving device 8, and the bottoms of the second drill bit driving devices 10 are respectively provided with second drill bits, which can be adjusted by a balancing weight to realize the level of the carrier 7. The robot controller 14 is connected with the first drill bit driving device 8 and the second drill bit driving device 10 respectively for rotation control, the first drill bit driving device 8 and the second drill bit driving device 10 respectively adopt motors to drive the first drill bit 9 and the second drill bit respectively, 3 hardened and broken point positions are formed, and according to actual needs, the motors can work simultaneously by selecting a single or multiple point positions, so that the working efficiency of the hardened and broken point is improved.
In order to ensure the flexibility and the counterweight effect of the movable seat 4, in the embodiment, the movable seat 4 is provided with the movable power supply 3 positioned behind the robot arm 1, power is supplied by connecting the movable power supply 3 with the robot controller 14, and the movable power supply 3 is used for counteracting the gravity center forward movement problem caused by the carrier 7.
In conclusion, the binocular vision robot for automatically removing the wall hanging objects of the large grain storage tank is flexible in arrangement, achieves detection and automatic removal of the wall hanging objects of the grain storage tank, and improves smoothness and working efficiency of downward movement and delivery of grains.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, or direct or indirect applications in other related fields, which are made by the contents of the present specification, are included in the scope of the present invention.
Claims (10)
1. The utility model provides a binocular vision robot of thing is hung to automatic clear large-scale grain storage tank wall which characterized in that includes: remove seat, robot arm, two mesh visual detection device, first drill bit and robot controller, robot arm sets up on removing the seat, the last cantilever that extends to removal seat the place ahead that is provided with of robot arm, two mesh visual detection device set up on removing seat or robot arm, the cantilever end is provided with the carrier, be provided with first drill bit drive arrangement on the carrier, first drill bit setting is on first drill bit drive arrangement and points downwards, robot controller is connected with robot arm and carries out motion control.
2. The binocular vision robot for automatically clearing away the wall hanging objects of the large grain storage tank as claimed in claim 1, wherein the moving seat is a crawler-type moving seat.
3. The binocular vision robot for automatically clearing the wall hanging objects of the large grain storage tank according to claim 1, wherein the binocular vision detection device is connected with a robot controller for signal transmission.
4. The binocular vision robot for automatically removing the wall hanging objects of the large grain storage tank as claimed in claim 3, wherein the robot controller is connected with the moving seat for displacement control.
5. The binocular vision robot for automatically removing the wall hanging objects of the large-sized grain storage tank according to claim 1, wherein a lifting lug is arranged in the middle of the top surface of the carrier, a pin seat in pin connection with the lifting lug is arranged at the tail end of the cantilever, and a pin shaft extending into the pin seat is arranged on the lifting lug.
6. The binocular vision robot for automatically clearing away the wall hanging objects of the large-sized grain storage tank according to claim 1, wherein the carrier is an arc-shaped plate, and the first drill bit driving device is arranged in the middle of the bottom surface of the arc-shaped plate.
7. The binocular vision robot for automatically clearing away the wall hanging objects of the large grain storage tank according to claim 6, wherein the bottom surface of the arc-shaped plate is symmetrically provided with second drill bit driving devices positioned at two sides of the first drill bit driving device, and the bottoms of the second drill bit driving devices are respectively provided with second drill bits.
8. The binocular vision robot for automatically removing the wall hanging objects of the large grain storage tank according to claim 7, wherein the robot controller is respectively connected with a first drill bit driving device and a second drill bit driving device for rotary control, and the first drill bit driving device and the second drill bit driving device respectively adopt motors.
9. The binocular vision robot for automatically removing the wall hanging objects of the large grain storage tank as claimed in claim 1, wherein a level sensor is arranged on the carrier, and the level sensor is connected with a robot controller for signal transmission.
10. The binocular vision robot for automatically clearing away the wall hanging objects of the large grain storage tank according to claim 1, wherein a mobile power supply is arranged behind a robot arm on the mobile seat, and the mobile power supply is connected with a robot controller for supplying power.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121495371.3U CN215395248U (en) | 2021-07-02 | 2021-07-02 | Binocular vision robot capable of automatically removing wall hanging objects of large grain storage tank |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121495371.3U CN215395248U (en) | 2021-07-02 | 2021-07-02 | Binocular vision robot capable of automatically removing wall hanging objects of large grain storage tank |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215395248U true CN215395248U (en) | 2022-01-04 |
Family
ID=79643984
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121495371.3U Active CN215395248U (en) | 2021-07-02 | 2021-07-02 | Binocular vision robot capable of automatically removing wall hanging objects of large grain storage tank |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215395248U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113478498A (en) * | 2021-07-02 | 2021-10-08 | 张家港市驰睿智能科技有限公司 | Binocular vision robot capable of automatically removing wall hanging objects of large grain storage tank |
-
2021
- 2021-07-02 CN CN202121495371.3U patent/CN215395248U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113478498A (en) * | 2021-07-02 | 2021-10-08 | 张家港市驰睿智能科技有限公司 | Binocular vision robot capable of automatically removing wall hanging objects of large grain storage tank |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN215395248U (en) | Binocular vision robot capable of automatically removing wall hanging objects of large grain storage tank | |
| CN201406841Y (en) | Control system for concrete pump truck intelligent cantilever crane | |
| CN113478498A (en) | Binocular vision robot capable of automatically removing wall hanging objects of large grain storage tank | |
| CN108237518A (en) | A kind of electronic multi-faceted general-purpose manipulator | |
| CN106555381A (en) | Bore extension and retraction system in a kind of automatization road | |
| CN207448912U (en) | Intelligent pouring robot and running gate system | |
| CN204940157U (en) | A kind of automation road cone extension and retraction system | |
| CN203728425U (en) | Integral video monitoring system for gantry crane equipment | |
| CN202943632U (en) | Manipulator device for transporting workpiece along with the horizontal transportation and moving of driving beam | |
| CN105084224A (en) | Arm type lifting machine | |
| CN207387654U (en) | A kind of industrial robotic arm | |
| CN219097607U (en) | Intelligent cleaning device for mining coal bunker | |
| CN210599044U (en) | Hanging basket arm structure and anchor rod supporting trolley | |
| CN216759937U (en) | Claw hand device of full-automatic feeding and discharging mechanical arm | |
| CN108726381B (en) | Multi-arm coordination operation control system of multifunctional rescue vehicle | |
| CN216566458U (en) | Wheel type four-shaft transmission mechanical arm for mine | |
| CN203007282U (en) | Hydraulic type cover body lifting turnover device in slag hot braising device | |
| CN215057203U (en) | Drilling equipment | |
| CN216275679U (en) | Flexible spiral anchor construction device | |
| CN103879892A (en) | Laser positioning system applicable to tower crane construction at night | |
| CN210115606U (en) | Intelligent omnidirectional moving welding robot | |
| CN203531125U (en) | Mechanical arm type dredging mechanism | |
| CN207592402U (en) | A kind of feeding device of steel ball cleaning equipment | |
| CN205076716U (en) | Arm -type lifting machine | |
| CN215618053U (en) | Railway inspection mechanical arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Xiao Youqing Inventor after: Tang Jiahua Inventor before: Xiao Youqing Inventor before: Tang Jiahua |