Visual positioning device of palletizing robot

Abstract

The utility model discloses a stacking robot visual positioning device which comprises a stacking manipulator, a visual positioning system and a stacking gripper assembly, and the visual positioning system and the stacking gripper assembly are arranged at the movable end of the stacking manipulator. The visual positioning system comprises a second fixing plate arranged at the movable end of the stacking manipulator, a fixing rod is movably connected to the lower portion of the second fixing plate, and a visual positioner is connected to the lower portion of the fixing rod. In conclusion, the visual positioning device overcomes the defects in the prior art, is reasonable in design, can be used for visual positioning in a larger range, enlarges the use range of visual positioning, and has higher social use value and application prospect.

Description

Technical Field

[0001] The utility model relates to the field of palletizing robots, in particular to a visual positioning device for a palletizing robot. Background Technique

[0002] A palletizing robot is a product of the organic combination of machinery and computer programs, providing higher production efficiency for modern production. Palletizing machines have a quite wide application in the palletizing industry, with characteristics of flexible and precise operation, fast and efficient operation, high stability, and high operation efficiency, greatly saving labor and space.

[0003] The visual positioning auxiliary mechanism of the palletizing robot can only perform visual positioning within a small range and within a fixed-angle area, and cannot perform visual positioning omnidirectionally. There may be visual dead angles in a large palletizing area, which is inconvenient to use. To solve the above problems, an automatic gripper for a robot with adjustable clamping plate distance is provided. Content of the Utility Model

[0004] To solve the problems mentioned in the above background technique, the utility model provides a visual positioning device for a palletizing robot.

[0005] To achieve the above purpose, the utility model adopts the following technical scheme:

[0006] A visual positioning device for a palletizing robot includes a palletizing manipulator, a visual positioning system, and a palletizing gripper assembly. The visual positioning system and the palletizing gripper assembly are arranged at the movable end of the palletizing manipulator; the visual positioning system includes a second fixing plate arranged at the movable end of the palletizing manipulator, a fixed rod is movably connected below the second fixing plate, and a visual locator is connected below the fixed rod.

[0007] Preferably, a fixing frame is arranged below the second fixing plate, a right-angle connecting rod and a second right-angle connecting rod are movably connected to the fixing frame, and the rotation axes of the right-angle connecting rod and the second right-angle connecting rod are perpendicular to each other.

[0008] Preferably, a sphere is arranged at the upper end of the fixed rod, the fixed rod is slidably connected with the second right-angle connecting rod, a limiting rod is movably connected to the side wall of the right-angle connecting rod, and the inner end of the limiting rod abuts against the sphere.

[0009] Preferably, a limiting groove is formed on the sphere, and the inner end of the limiting rod abuts in the limiting groove.

[0010] Preferably, supplementary light lamps are arranged on both sides of the visual locator in a matching manner.

[0011] Preferably, the palletizing gripper assembly includes a mounting frame fixedly connected below the fixing plate, a rotating connecting rod is movably connected to the mounting frame, a connecting side plate is arranged below the rotating connecting rod, and a gripping tooth is detachably connected to the connecting side plate.

[0012] Preferably, a second rotating link is movably connected to the mounting frame, and a limiting plate is provided at the lower part of the second rotating link, and the limiting plate is always located inside the connecting side plate.

[0013] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0014] 1. The vision positioning system can position the goods. The first motor drives the right-angle link to rotate, thereby driving the link to rotate, and the link drives the vision locator to rotate. The first motor drives the second right-angle link to rotate, thereby driving the vision locator to swing. Under the cooperation of the rotation and swing of the vision locator, the vision locator can rotate to any angle within a certain range, so as to perform vision positioning in a larger range, increasing the use range of vision positioning.

[0015] 2. When the first air cylinder is started, the first air cylinder pushes the middle position of the rotating link, which can pull the rotating link to rotate, thereby driving the connecting side plate to rotate centrally, so as to drive the grasping teeth to lift the goods. When the second air cylinder is started, it pushes the limiting plate to rotate inward, and clamps and limits the two sides of the goods lifted by the grasping teeth, so that the palletizing robot can move the goods smoothly for palletizing.

[0016] In summary, the present utility model overcomes the deficiencies of the prior art, has a reasonable design, performs vision positioning in a larger range, increases the use range of vision positioning, and has high social use value and application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0018] Figure 1 It is a schematic diagram of the overall structure of the present utility model;

[0019] Figure 2 It is a schematic diagram of the structure of the vision positioning system of the present utility model;

[0020] Figure 3 It is a schematic diagram of the structure of the limiting rod of the present utility model;

[0021] Figure 4 It is a schematic diagram of the structure of the palletizing gripper assembly of the present utility model;

[0022] Figure 5 It is a schematic diagram of the structure of the limiting plate of the present utility model.

[0023] In the figure: palletizing manipulator 1, fixed plate 11, palletizing gripper assembly 2, vision positioning system 3, second fixed plate 31, fixing frame 32, right-angle connecting rod 321, second right-angle connecting rod 322, first motor 323, second motor 324, sphere 33, fixed rod 331, limiting groove 332, connecting rod 331, vision locator 34, fill light 35, mounting frame 21, support plate 22, second support plate 221, rotating connecting rod 23, first cylinder 231, connecting side plate 232, gripping teeth 233, second rotating connecting rod 24, second cylinder 241, limiting plate 242. Specific embodiments

[0024] To make the objectives, technical solutions and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Apparently, the described embodiments are some, but not all, of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0025] Embodiment 1

[0026] Refer to Figures 1-5 , a vision positioning device for a palletizing robot, including a palletizing manipulator 1, a vision positioning system 3, and a palletizing gripper assembly 2. A fixed plate 11 is provided at the mobile end of the palletizing manipulator 1. The bottom end of the fixed plate 11 is fixedly connected to the vision positioning system 3 and the palletizing gripper assembly 2. The vision positioning system 3 is distributed on both sides of the palletizing gripper assembly 2.

[0027] The vision positioning system 3 includes a second fixed plate 31 fixedly connected to the bottom end of the fixed plate 11. A fixing frame 32 is provided at the bottom end of the second fixed plate 31. The fixing frame 32 is T-shaped. A right-angle connecting rod 321 and a second right-angle connecting rod 322 are rotatably connected to the fixing frame 32. The rotation axes of the right-angle connecting rod 321 and the second right-angle connecting rod 322 are perpendicular to each other. A first motor 323 and a second motor 324 are provided on the fixing frame 32. The output ends of the first motor 323 and the second motor 324 are respectively fixedly connected to the right-angle connecting rod 321 and the second right-angle connecting rod 322. A fixed rod 331 is slidably connected to the second right-angle connecting rod 322. A sphere 33 is provided at the upper end of the fixed rod 331. A vision locator 34 is provided at the lower end of the fixed rod 331. Fill lights 35 are arranged on both sides of the vision locator 34 in a matching manner.

[0028] A sphere 33 is provided at the upper end of the fixed rod 331. A limiting groove 332 is formed in the sphere 33. A limiting rod 3211 is movably connected to the side wall of the right-angle connecting rod 321. One end of the limiting rod 3211 close to the sphere 33 is spherical, and one end of the limiting rod 3211 close to the sphere 33 is movably connected in the limiting groove 332.

[0029] The vision positioning system 3 can position the goods. The first motor 323 drives the right-angle connecting rod 321 to rotate, thereby driving the connecting rod 331 to rotate. The connecting rod 331 drives the vision positioner 34 to rotate. The first motor 323 drives the second right-angle connecting rod 322 to rotate, thereby driving the vision positioner 34 to swing. Under the cooperation of the rotation and swing of the vision positioner 34, the vision positioner 34 can rotate to any angle within a certain range, so as to perform vision positioning in a larger range and increase the application range of vision positioning.

[0030] Embodiment 2

[0031] Refer to Figures 1-5 , the palletizing gripper assembly 2 includes a mounting bracket 21 fixedly connected to the bottom end of the fixing plate 11. A second support plate 221 and a support plate 22 are fixedly connected in sequence below the mounting bracket 21. A rotating connecting rod 23 is connected to the side of the mounting bracket 21 and is rotatably connected to the upper end of the rotating connecting rod 23. A connecting side plate 232 is provided at the lower end of the rotating connecting rod 23. A gripping tooth 233 is detachably connected to the connecting side plate 232. The top end of the second support plate 221 is rotatably connected to a first cylinder 231. The output end of the first cylinder 231 is rotatably connected to the side wall of the rotating connecting rod 23. When the first cylinder 231 is started, the first cylinder 231 pushes the middle position of the rotating connecting rod 23, which can pull the rotating connecting rod 23 to rotate, thereby driving the connecting side plate 232 to rotate centrally, so as to drive the gripping tooth 233 to lift the goods.

[0032] A second rotating connecting rod 24 is provided on the side of the support plate 22 and is rotatably connected to the middle of the second rotating connecting rod 24. A limiting plate 242 is provided at the lower part of the second rotating connecting rod 24. A second cylinder 241 is provided at the top end of the support plate 22 and is rotatably connected to the fixed end of the second cylinder 241. The output end of the second cylinder 241 is rotatably connected to the upper part of the second rotating connecting rod 24. When the second cylinder 241 is started, it pushes the limiting plate 242 to rotate inwards to clamp and limit the two sides of the goods lifted by the gripping tooth 233, so that the palletizing robot can move the goods smoothly.

[0033] When the first cylinder 231 is started, the first cylinder 231 pushes the middle position of the rotating connecting rod 23, which can pull the rotating connecting rod 23 to rotate, thereby driving the connecting side plate 232 to rotate centrally, so as to drive the gripping tooth 233 to lift the goods. When the second cylinder 241 is started, it pushes the limiting plate 242 to rotate inwards to clamp and limit the two sides of the goods lifted by the gripping tooth 233, so that the palletizing robot can move the goods smoothly.

[0034] Working principle: The vision positioning system 3 can position the goods. The first motor 323 drives the right-angle connecting rod 321 to rotate, thereby driving the connecting rod 331 to rotate. The connecting rod 331 drives the vision locator 34 to rotate. The first motor 323 drives the second right-angle connecting rod 322 to rotate, thereby driving the vision locator 34 to swing. With the cooperation of the rotation and swing of the vision locator 34, the vision locator 34 can rotate to any angle within a certain range;

[0035] When the first air cylinder 231 is started, the first air cylinder 231 pushes the middle position of the rotating connecting rod 23, which can pull the rotating connecting rod 23 to rotate, thereby driving the connecting side plate 232 to rotate centrally, and thus driving the gripper teeth 233 to lift the goods. When the second air cylinder 241 is started, it pushes the limiting plate 242 to rotate inwards to clamp and limit both sides of the goods lifted by the gripper teeth 233, so that the palletizing robot can move the goods smoothly.

[0036] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0037] In the present invention, unless otherwise clearly specified and limited, the terms "set", "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium. It can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] The control mode of the present invention is automatically controlled by a controller. The control circuit of the controller can be realized by simple programming by those skilled in the art. The provision of power also belongs to the common knowledge in the art. And the present invention is mainly used to protect mechanical devices, so the control mode and circuit connection of the present invention will not be explained in detail.

[0039] The above are only the preferred specific embodiments of the present utility model, but the protection scope of the present utility model is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present utility model, according to the technical solution of the present utility model and its inventive concept, making equivalent substitutions or changes, shall be covered by the protection scope of the present utility model.

Claims

1. A vision positioning device for a palletizing robot, characterized in that Comprising: Comprising a palletizing robot (1), a vision positioning system (3), and a palletizing gripper assembly (2), wherein the vision positioning system (3) and the palletizing gripper assembly (2) are arranged at the movable end of the palletizing robot (1); The vision positioning system (3) includes a second fixed plate (31) arranged at the movable end of the palletizing robot. A fixed rod (331) is movably connected below the second fixed plate (31), and a vision locator (34) is connected below the fixed rod (331).

2. The vision positioning device of a palletizing robot according to claim 1, characterized in that: A fixed frame (32) is provided below the second fixed plate (31). A right-angle connecting rod (321) and a second right-angle connecting rod (322) are movably connected to the fixed frame (32), and the rotation axes of the right-angle connecting rod (321) and the second right-angle connecting rod (322) are perpendicular to each other.

3. A vision positioning device for a palletizing robot according to claim 2, characterized in that: A sphere (33) is provided at the upper end of the fixed rod (331). The fixed rod (331) is slidably connected to the second right-angle connecting rod. A limiting rod (3211) is movably connected to the side wall of the right-angle connecting rod (321), and the inner end of the limiting rod (3211) abuts against the sphere (33).

4. The vision positioning device of a palletizing robot according to claim 3, wherein: A limiting groove (332) is formed on the sphere (33), and the inner end of the limiting rod (3211) abuts within the limiting groove (332).

5. A vision positioning device for a palletizing robot according to claim 1, characterized in that: Fill lights (35) are arranged in cooperation on both sides of the vision locator (34).

6. The vision positioning device of a palletizing robot according to claim 1, wherein: The palletizing gripper assembly (2) includes a mounting frame (21) fixedly connected below the fixed plate (11). A rotating connecting rod (23) is movably connected to the mounting frame (21). A connecting side plate (232) is provided below the rotating connecting rod (23), and a gripping tooth (233) is detachably connected to the connecting side plate (232).

7. The vision positioning device of a palletizing robot according to claim 6, wherein: A second rotating connecting rod (24) is movably connected to the mounting frame (21). A limiting plate (242) is provided at the lower part of the second rotating connecting rod (24), and the limiting plate (242) is always located inside the connecting side plate (232).

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