CN219599529U - Cigar intelligent management and maintenance robot - Google Patents

Abstract

The utility model discloses a cigar intelligent management and maintenance robot which comprises a base capable of moving and rotating, a mechanical arm and a lifting guide rail, wherein the lifting guide rail is vertically fixed on the base, a main control module for receiving and sending instructions is arranged on the lifting guide rail, the main control module is lifted along the lifting guide rail, the mechanical arm is connected to the main control module, and the tail end of the mechanical arm is provided with an end effector for grabbing objects and a visual module for acquiring depth images and color images. The utility model aims to provide a cigar intelligent management and maintenance robot which replaces a manual checking mode, effectively shortens checking time and improves checking efficiency.

Description

Cigar intelligent management and maintenance robot

Technical Field

The utility model relates to the technical field of robots, in particular to a cigar intelligent management and maintenance robot.

Background

When cigars are managed, the manual checking mode is generally adopted, the cigars are managed, checked and checked through three general processes of preparation, checking and checking, particularly, the checking and checking are long in time and low in efficiency, checking can not be initiated anytime and anywhere, and checking conditions and checking inventory are dynamically reflected. In order to replace a manual counting mode and shorten the counting time so as to improve the counting efficiency, the utility model provides a cigar intelligent management and maintenance robot.

Disclosure of Invention

The utility model aims to provide a cigar intelligent management and maintenance robot which replaces a manual checking mode, effectively shortens checking time and improves checking efficiency.

In order to solve the technical problems, the utility model adopts the following technical scheme:

the cigar intelligent tube-culturing robot comprises a base, a mechanical arm and a lifting guide rail, wherein the base, the mechanical arm and the lifting guide rail can move and rotate, the lifting guide rail is vertically fixed on the base, a main control module for receiving and sending instructions is arranged on the lifting guide rail, the main control module ascends and descends along the lifting guide rail, the mechanical arm is connected to the main control module, and the tail end of the mechanical arm is provided with an end effector for grabbing objects and a visual module for acquiring depth images and color images.

Further, an electric box is arranged on the base, a cable drag chain is arranged on the electric box, and the other end of the cable drag chain is connected with the main control module.

Further, a light source is further arranged at the tail end of the mechanical arm, and the mechanical arm is a six-axis mechanical arm.

Further, the end effector is a motorized jaw.

Further, the base is an AGV trolley.

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

according to the utility model, the vision module is arranged for identifying and positioning the target object, the mechanical arm is guided to reach a proper grabbing position, the end effector is arranged on the mechanical arm to grab the object, and the mechanical arm can realize multidirectional rotation so as to enable accurate positioning, and the robot can reach a designated position through the base and the lifting guide rail, so that the checking process is mechanized without manual participation, the checking time is shortened, and the checking efficiency is improved.

Drawings

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

Fig. 2 is a block diagram of the system of the present utility model.

In the figure, 1-base, 2-electric box, 3-cable tow chain, 4-lift guide rail, 5-main control module, 6-arm, 7-end effector, 8-vision module, 9-light source.

Detailed Description

The present utility model will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present utility model more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model.

Example 1:

referring to fig. 1-2, the utility model provides a cigar intelligent management and maintenance robot, which comprises a base 1 capable of moving and rotating, a mechanical arm 6 and a lifting guide rail 4, wherein the lifting guide rail 4 is a linear module, the base 1 is an AGV trolley, the lifting guide rail 4 is vertically fixed on the base 1, a main control module 5 for receiving and sending instructions is arranged on the lifting guide rail 4, and the main control module 5 is mainly responsible for the following functions:

1. the system is communicated with a user through WIFI, a user instruction is received, and the system state is uploaded;

2. receiving a signal of the vision module 8 through the USB3.0, and identifying and positioning a target object;

3. the method comprises the steps of communicating with a mechanical arm 6 through a network port, sending a control instruction of the mechanical arm 6, and obtaining state information of the mechanical arm 6;

4. and the base 1 is communicated with the base 1 through a network port, and a base 1 control instruction is sent to acquire base 1 state information.

The main control module 5 goes up and down along the lifting guide rail 4, the mechanical arm 6 is connected to the main control module 5, the tail end of the mechanical arm 6 is provided with the end effector 7 for grabbing objects and the vision module 8 for acquiring depth images and color images, and the acquired images are identified and analyzed through the main control module 5.

The base 1 is provided with an electric box 2, a power supply is arranged in the electric box 2 to supply power to the device, the electric box 2 is provided with a cable drag chain 3 to protect a connecting line, and the other end of the cable drag chain 3 is connected with a main control module 5. The tail end of the mechanical arm 6 is also provided with a light source 9, and the mechanical arm 6 is a six-axis mechanical arm, so that the mechanical arm has higher degree of freedom. The end effector 7 is an electric clamping jaw, and the electric clamping jaw adopts an RS485 communication interface.

In the utility model, the main control module 5 can adopt an artificial intelligent development board with the model number of micro snow JetsonXavierNXAI, an artificial intelligent module with the RK3568 core board main board module, an artificial intelligent module with the NVIDIA/Injevieda JETSONNAB 01 development edge development board suite, and the like, the mechanical arm 6 can adopt a cooperative mechanical arm with the model number of JAKAMiniCobo, an RM65-B cooperative mechanical arm, and the like, the end effector 7 is an electric clamping jaw matched with the model number, the vision module 8 can adopt a Sentry2k210AI vision sensor module, an AstraPro real depth camera, an Intel RealSense real camera to scan the multifunctional camera D435, and the intel RealSense real camera to scan the multifunctional camera D435 is preferably adopted as the vision module 8.

The working process of the utility model is as follows:

s1, receiving a task issuing instruction, wherein a base 1 of the robot is a main motion and bearing part of the robot and is responsible for mapping an indoor environment, and meanwhile, after path planning, the robot reaches a designated task position to perform operation;

s2, controlling lifting and moving operation of the lifting guide rail 4 according to the task instruction, and moving the mechanical arm arranged on the lifting guide rail 4 to a corresponding height;

s3, the mechanical arm has 6 rotary joints, each joint represents one degree of freedom, and the robot joint comprises a shoulder (joint 1), a shoulder (joint 2), an elbow (joint 3), a wrist 1 (joint 4), a wrist 2 (joint 5) and a wrist 3 (joint 6). The shoulder and the elbow are connected by an arm pipe. The vision sensor is carried at the tail end (joint 6) of the mechanical arm and is used for identifying and positioning a target object and guiding the mechanical arm to reach a proper grabbing position;

s4, according to the task instruction, the mechanical arm aims the tail end pointing hand at the appointed target to perform appointed action;

s5, guiding the mechanical arm 6 to drive the vision module 8 to reach the target position for shooting operation according to the task instruction;

s6, according to the task instruction, the mechanical arm 6 aims the end effector 7 at a specified target to perform specified actions;

s7, according to the task instruction, the AGV moves the chassis to return to the initial point position after completing the task, and all task operations are completed.

Although the utility model has been described herein with reference to a number of illustrative embodiments thereof, it should be understood that numerous other modifications and embodiments can be devised by those skilled in the art that will fall within the scope and spirit of the principles of this disclosure. More specifically, various variations and modifications may be made to the component parts or arrangements of the subject combination arrangement within the scope of the present disclosure, the drawings and the claims. In addition to variations and modifications in the component parts or arrangements, other uses will be apparent to those skilled in the art.

Claims (5)

1. Cigar intelligent management and maintenance robot, its characterized in that: including base (1), arm (6) and lifting rail (4) that can remove and rotate, lifting rail (4) are fixed perpendicularly on base (1), are provided with on lifting rail (4) and are used for receiving and send main control module (5) of instruction, and main control module (5) go up and down along lifting rail (4), are connected with arm (6) on main control module (5), and the end of arm (6) is provided with end effector (7) that are used for snatching the object and is used for obtaining vision module (8) of depth image and color image.

2. A cigar intelligent conservation robot as claimed in claim 1, wherein: an electric box (2) is arranged on the base (1), a cable drag chain (3) is arranged on the electric box (2), and the other end of the cable drag chain (3) is connected with a main control module (5).

3. A cigar intelligent conservation robot as claimed in claim 1, wherein: the tail end of the mechanical arm (6) is further provided with a light source (9), and the mechanical arm (6) is a six-axis mechanical arm.

4. A cigar intelligent conservation robot as claimed in claim 1, wherein: the end effector (7) is a motorized jaw.

5. A cigar intelligent conservation robot as claimed in claim 1, wherein: the base (1) is an AGV trolley.