Automatic shooting manipulator special for image acquisition

Abstract

The invention relates to the field of manipulators, in particular to an automatic shooting manipulator special for image acquisition, which comprises a bottom plate and further comprises a controller, a base, an industrial camera, a clamping mechanism, an angle adjusting mechanism and a light source adjusting mechanism, the base is arranged at the top of the bottom plate, a supporting arm is rotatably arranged at the top of the base, and a cantilever is hinged to the top of the supporting arm; a supporting plate is fixedly arranged at the end, away from the supporting arm, of the cantilever, a vertical plate is fixedly arranged at the bottom of the supporting plate, the clamping mechanism comprises a housing, a rotating assembly, a telescopic assembly, two sliding assemblies and two clamping jaws, the angle adjusting mechanism comprises a transmission assembly and a fine adjustment assembly, and the light source adjusting mechanism comprises a shading plate, a light supplementing assembly and a driving assembly. According to the automatic shooting mechanical arm special for image acquisition, even if the shape of a material is changed, the situation that the material is grabbed obliquely or neglected can be prevented, and then the working efficiency and effect of the mechanical arm are improved.

Description

Technical Field

[0001] The present invention relates to the field of manipulators, and particularly to an automated shooting manipulator dedicated for image acquisition. Background Art The automated shooting manipulator dedicated for image acquisition is mainly used to perceive, analyze the position, posture and features of target objects in real time in a complex environment, and then accurately execute tasks such as grasping, assembling, and detecting. This kind of manipulator performs image acquisition through a high-resolution industrial camera (such as a CCD or CMOS camera) in cooperation with a specific optical lens. The camera is usually installed at an appropriate position on or around the manipulator to capture the scene within the working area. Appropriate light source design can enhance the contrast between the target and the background, reduce shadow and reflection interference, and ensure the acquisition of high-quality images.

[0003] The structures of the above two inventions have the following deficiencies: 1. During the transportation of existing materials, they may be flattened due to external force factors. When they are flattened, the clamping stroke of the two jaws of the original manipulator cannot meet the clamping requirements of the flattened materials, thus reducing the clamping effect of the manipulator.

[0004] 2. When the materials are flattened, due to the differences in the shapes of the materials, there will be shadows on the surface of the materials, reducing the clarity of image acquisition, or increasing the specular reflection characteristics of the surface of the materials, thus increasing the probability of overexposure in image acquisition and increasing the recognition difficulty. Summary of the Invention The purpose of the present invention is to provide an automated shooting manipulator dedicated for image acquisition.

[0006] To achieve this purpose, the present invention adopts the following technical solutions: Provide an automated shooting manipulator dedicated for image acquisition, including a bottom plate; It further includes a controller, a base, an industrial camera, a clamping mechanism, an angle adjustment mechanism and a light source adjustment mechanism; The base is arranged on the top of the bottom plate. A support arm is rotatably arranged on the top of the base, and a cantilever is hinged at the top of the support arm; One end of the cantilever away from the support arm is fixedly provided with a support plate. A vertical plate is fixedly provided at the bottom of the support plate. The clamping mechanism is arranged on the outer wall of the vertical plate. The clamping mechanism includes a housing, a rotating component, a telescopic component, two sliding components and two jaws. The rotating component is inserted into the outer wall of the vertical plate. The housing is fixedly arranged on the rotating component through a U-shaped plate. The telescopic component is inserted into the housing. The two sliding components are symmetrically arranged inside the housing. Each jaw is fixedly arranged on one sliding component; The angle adjustment mechanism is arranged at the top of the support plate. The angle adjustment mechanism includes a transmission component and a fine adjustment component. A U-shaped frame is fixedly arranged at the top of the support plate. The fine adjustment component is arranged on the U-shaped frame. The camera is fixedly arranged on the fine adjustment component. The transmission component is arranged between the rotation component and the fine adjustment component; The light source adjustment mechanism includes a light shielding plate, a supplementary light component and a driving component. A support frame is fixedly arranged at the top of the U-shaped frame. The supplementary light component is arranged on the outer wall of the industrial camera. The light shielding plate is rotatably arranged on the support frame through a hinge shaft. The driving component is arranged between the support frame and the light shielding plate.

[0007] Furthermore, the rotation component includes a DC motor, a first gear, a second gear and a first rotating shaft. The DC motor is inserted into the vertical plate. The first gear is fixedly arranged on its output end. The first rotating shaft is rotatably arranged on the vertical plate. The second gear is fixedly arranged on the first rotating shaft. The first gear is meshed and connected with the second gear. One end of the first rotating shaft is fixedly connected with one end of the U-shaped plate. The DC motor is electrically connected with the controller.

[0008] Furthermore, the fine adjustment component includes a second rotating shaft, a worm wheel and a worm. The second rotating shaft is rotatably arranged at the top of the U-shaped frame. The worm wheel is fixedly arranged on the second rotating shaft. The worm is rotatably arranged on the outer wall of the U-shaped frame. The worm wheel is meshed and connected with the worm.

[0009] Furthermore, the transmission component includes a driving wheel, a driven wheel, a belt and a transmission shaft. The driving wheel is fixedly arranged at one end of the first rotating shaft away from the second gear. The transmission shaft is fixedly arranged at one end of the worm. The driven wheel is fixedly arranged at one end of the transmission shaft away from the worm. The belt is sleeved between the driving wheel and the driven wheel.

[0010] Furthermore, the telescopic component includes a first electric push rod, a push block and a trapezoidal top block. The first electric push rod is inserted into the outer wall of the housing. The push block is fixedly arranged on its output end. The trapezoidal top block is fixedly arranged on the push block. The first electric push rod is electrically connected with the controller.

[0011] Furthermore, each sliding component includes a wedge-shaped docking block, a slider, a limiting block and a return spring. The wedge-shaped docking block is slidably arranged inside the housing through two sliding bars. The slider is fixedly arranged on the top of the wedge-shaped docking block. A sliding groove for the slider to slide is formed at the top of the housing. The limiting block is fixedly arranged at one end of the sliding groove away from the slider at the top. The return spring is fixedly arranged between the slider and the limiting block. One end outer wall of the wedge-shaped docking block is slidably connected with one end outer wall of the trapezoidal top block. Each clamping jaw is fixedly connected with a wedge-shaped docking block.

[0012] Furthermore, the supplementary light component includes four LED lighting lamps. The four LED lighting lamps are symmetrically arranged on the outer wall of the industrial camera near the light shielding plate. Each LED lighting lamp is electrically connected with the controller.

[0013] Furthermore, the driving assembly includes a second electric push rod, an insertion rod, a rocker arm and an adapter block. The adapter block is hinged at one end of the support frame, the second electric push rod is fixed on the adapter block, the rocker arm is fixed at one end of the hinge shaft, the insertion rod is fixed on the output end of the second electric push rod, and an avoidance groove for the insertion rod to slide is opened on the outer wall of the rocker arm. The second electric push rod is electrically connected to the controller.

[0014] Furthermore, a hydraulic rod is hingedly provided between the support arm and the cantilever, and the hydraulic rod is electrically connected to the controller.

[0015] Furthermore, a turntable is rotatably provided on the top of the base, and the top of the turntable is fixedly connected to the bottom of the support arm.

[0016] Beneficial effects of the present invention: 1. The present invention designs a rotating component, which can drive the two clamps to rotate longitudinally 90° when the material is flattened, so that the two clamps rotate from a horizontal state to a vertical state to clamp the flattened material. It should be noted that since the robot grasps the target object generally through a pre-set internal program, the robot approaches and grasps the target object along a preset motion trajectory. When the shape or position of the target object changes, the manipulator needs to re-plan the path and parameters to achieve precise grasping. By designing the above structure, even if the shape of the material changes, it can prevent the grasping from being biased or missed, thereby improving the working efficiency and effect of the manipulator.

[0017] 2. The present invention designs a fill light component, namely four LED lights. When there is a shadow on the surface of the flattened material, the four LED lights are started by a controller to provide lighting for the location of the material, brighten the light, eliminate the shadow, and make the image taken by the industrial camera clearer, which is also convenient for the robot to grasp smoothly.

[0018] 3. The present invention designs a shading plate and a driving component. When the reflective characteristics of the surface of the flattened material increase, the reflection will affect the shooting effect of the lens. The shading plate is driven by the driving component to rotate toward the end close to the lens of the industrial camera to block the reflected light, so as to reduce the influence of the reflection on the imaging. At the same time, the influence of direct light can be reduced, the exposure can be controlled, and the overexposure problem can be prevented. The present invention improves the image acquisition quality and the recognition effect of the material by designing the transmission component, which is convenient for the robot to grasp accurately.

[0019] 4. The present invention designs a transmission component, which can simultaneously drive the lens of the industrial camera to fine-tune downward while the two clamping jaws rotate 90 degrees to grab the flattened material, so that the lens can quickly capture all the flattened materials without missing any shots due to shape changes of the materials, avoiding blind spots in shooting, and helping to improve the image acquisition effect of the industrial camera.

[0020] 5. The present invention designs a transmission component to drive the clamping mechanism and the angle adjustment mechanism to operate synchronously. The two mechanisms can achieve synchronous operation through only one driving source, namely a DC motor, without the need for separate driving sources for each mechanism. This reduces the overall power consumption of the manipulator, saves the usage cost, and at the same time simplifies the overall structure, which is beneficial to reducing the overall cost of the manipulator and facilitating the integration of multiple functions on the cantilever of the manipulator, thereby enhancing the practicality of the manipulator. Brief Description of the Drawings In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings in the embodiments of the present invention.

[0022] Figure 1 Schematic three-dimensional structure of the present invention Figure 1 ; Figure 2 is Figure 1 an enlarged view of part A in Figure 3 is Figure 1 an enlarged view of part B in Figure 4 Schematic three-dimensional structure of the present invention Figure 2 ; Figure 5 is Figure 4 an enlarged view of part C in Figure 6 is Figure 4 an enlarged view of part D in Figure 7 Schematic three-dimensional structure diagram of the clamping mechanism of the present invention; Figure 8 is Figure 7 an enlarged view of part E in In the figure: base plate 10, controller 11, base 12, industrial camera 13, support arm 14, cantilever 15, support plate 16, housing 17, U-shaped plate 18, light-shielding plate 19, DC motor 20, first gear 21, second gear 22, first rotating shaft 23, second rotating shaft 24, worm gear 25, worm 26, driving wheel 27, driven wheel 28, belt 29, transmission shaft 30, first electric push rod 31, push block 32, trapezoidal top block 33, wedge-shaped docking block 34, slider 35, limit block 36, return spring 37, LED lighting lamp 38, second electric push rod 39, insertion rod 40, swing rod 41, adapter block 42, hydraulic rod 43, turntable 44. Detailed Embodiments The following further illustrates the technical solutions of the present invention in conjunction with the drawings and through specific embodiments.

[0024] Among them, the attached drawings are only for illustrative purposes, showing only schematic diagrams rather than actual physical diagrams, and should not be construed as a limitation on the present invention; in order to better illustrate the embodiments of the present invention, some components in the attached drawings are omitted, enlarged or reduced, which do not represent the dimensions of the actual product.

[0025] Referring Figures 1 to 8 As shown, a special automated shooting manipulator for image acquisition includes a bottom plate 10; It further includes a controller 11, a base 12, an industrial camera 13, a clamping mechanism, an angle adjustment mechanism, and a light source adjustment mechanism; The base 12 is provided on the top of the bottom plate 10. A support arm 14 is rotatably provided on the top of the base 12. A cantilever 15 is hingedly provided on the top of the support arm 14; One end of the cantilever 15 away from the support arm 14 is fixedly provided with a support plate 16. A vertical plate is fixedly provided at the bottom of the support plate 16. The clamping mechanism is provided on the outer wall of the vertical plate. The clamping mechanism includes a housing 17, a rotating component, a telescopic component, two sliding components, and two clamping jaws. The rotating component is inserted on the outer wall of the vertical plate. The housing 17 is fixedly provided on the rotating component through a U-shaped plate 18. The telescopic component is inserted on the housing 17. The two sliding components are symmetrically arranged inside the housing 17. Each clamping jaw is fixedly provided on one sliding component; The angle adjustment mechanism is provided on the top of the support plate 16. The angle adjustment mechanism includes a transmission component and a fine adjustment component. A U-shaped frame is fixedly provided on the top of the support plate 16. The fine adjustment component is provided on the U-shaped frame. The camera is fixedly provided on the fine adjustment component. The transmission component is provided between the rotating component and the fine adjustment component; The light source adjustment mechanism includes a light shielding plate 19, a light supplement component, and a driving component. A support frame is fixedly provided on the top of the U-shaped frame. The light supplement component is provided on the outer wall of the industrial camera 13. The light shielding plate 19 is rotatably provided on the support frame through a hinge shaft. The driving component is provided between the support frame and the light shielding plate 19.

[0026] Referring Figures 1 to 8As shown, the rotating assembly includes a DC motor 20, a first gear 21, a second gear 22, and a first rotating shaft 23. The DC motor 20 is inserted into the vertical plate, the first gear 21 is fixedly arranged on its output end, the first rotating shaft 23 is rotatably arranged on the vertical plate, the second gear 22 is fixedly arranged on the first rotating shaft 23, the first gear 21 is meshed and connected with the second gear 22, one end of the first rotating shaft 23 is fixedly connected with one end of the U-shaped plate 18, and the DC motor 20 is electrically connected with the controller 11. In actual work, during the conveying process of the material, due to some external force factors, the material may be flattened. For example, when a cylindrical material is flattened and becomes flat, its diameter will increase and exceed the clamping stroke of the two jaws, but the height of the material will decrease. At this time, the controller 11 starts the DC motor 20, so as to drive the first gear 21 to rotate through its output end. Since the second gear 22 is fixedly connected with the first rotating shaft 23, and the first rotating shaft 23 is fixedly connected with the housing 17 through the U-shaped plate 18, the housing 17 and the two jaws on it are driven to rotate longitudinally by 90°, so that the two jaws rotate from the horizontal state to the vertical state to clamp the flattened material. It should be noted that since the robot generally grasps the target object through a program preset inside, the robot approaches and grasps the target object along the preset motion trajectory line. When the shape or position of the target object changes, the manipulator needs to re-plan the path and parameters to achieve accurate grasping. By designing the above structure, even if the shape of the material changes, it can prevent the situation of grasping deviation or missing grasping, thereby improving the working efficiency and effect of the manipulator.

[0027] Referring to Figures 1 to 8 As shown, the fine-tuning assembly includes a second rotating shaft 24, a worm gear 25, and a worm 26. The second rotating shaft 24 is rotatably arranged on the top of the U-shaped frame, the worm gear 25 is fixedly arranged on the second rotating shaft 24, the worm 26 is rotatably arranged on the outer wall of the U-shaped frame, the worm gear 25 is meshed and connected with the worm 26. When the transmission shaft 30 rotates, since the worm gear 25 is fixedly connected with the second rotating shaft 24, the worm 26 is rotatably connected with the U-shaped frame, and the worm gear 25 is meshed and connected with the worm 26, the industrial camera 13 is fixedly connected with the second rotating shaft 24, and the second rotating shaft 24 is rotatably connected with the U-shaped frame, so as to drive the industrial camera 13 to rotate slightly towards the end close to the jaws, so that the lens can quickly photograph all the flattened materials, and it will not cause missed shooting due to the change of the shape of the material, avoiding the generation of shooting dead angles, which is beneficial to improving the image acquisition effect of the industrial camera 13.

[0028] Referring to Figures 1 to 8As shown, the transmission assembly includes a driving wheel 27, a driven wheel 28, a belt 29, and a transmission shaft 30. The driving wheel 27 is fixedly provided at one end of the first rotating shaft 23 away from the second gear 22. The transmission shaft 30 is fixedly provided at one end of the worm 26. The driven wheel 28 is fixedly provided at one end of the transmission shaft 30 away from the worm 26. The belt 29 is sleeved between the driving wheel 27 and the driven wheel 28. While the first rotating shaft 23 rotates, since one end of the first rotating shaft 23 away from the U-shaped plate 18 is fixedly connected to the driving wheel 27, the driven wheel 28 is fixedly connected to the transmission shaft 30, and the driving wheel 27 and the driven wheel 28 are sleeved through the belt 29, the transmission shaft 30 is driven to rotate.

[0029] Referring to Figures 1 to 8 As shown, the telescopic assembly includes a first electric push rod 31, a push block 32, and a trapezoidal top block 33. The first electric push rod 31 is inserted on the outer wall of the housing 17. The push block 32 is fixedly provided at its output end. The trapezoidal top block 33 is fixedly provided on the push block 32. The first electric push rod 31 is electrically connected to the controller 11. When it is necessary to grasp the material, the first electric push rod 31 is started through the controller 11, so that its output end contracts. Since its output end is fixedly connected to the push block 32 and the push block 32 is fixedly connected to the trapezoidal top block 33, the trapezoidal top block 33 contracts towards the end close to the first electric push rod 31.

[0030] Referring to Figures 1 to 8 As shown, each sliding assembly includes a wedge-shaped docking block 34, a slider 35, a limiting block 36, and a return spring 37. The wedge-shaped docking block 34 is slidably provided inside the housing 17 through two sliding strips. The slider 35 is fixedly provided on the top of the wedge-shaped docking block 34. A sliding groove for the slider 35 to slide is provided at the top of the housing 17. The limiting block 36 is fixedly provided at one end of the sliding groove away from the top of the slider 35. The return spring 37 is fixedly provided between the slider 35 and the limiting block 36. One outer wall of the wedge-shaped docking block 34 is slidably connected to one outer wall of the trapezoidal top block 33. Each clamping jaw is fixedly connected to a wedge-shaped docking block 34. In the initial state, the return spring 37 is in a stretched state. When the trapezoidal top block 33 contracts towards the end close to the first electric push rod 31, since one outer wall of the wedge-shaped docking block 34 is slidably connected to one outer wall of the trapezoidal top block 33, the sliding contact surface between the wedge-shaped docking block 34 and the trapezoidal top block 33 is an inclined surface, and each wedge-shaped docking block 34 is slidably connected inside the housing 17, the return spring 37 changes from the stretched state to the tense state, so that the two wedge-shaped docking blocks 34 approach each other. Each clamping jaw is fixedly connected to a wedge-shaped docking block 34, and further the two clamping jaws approach each other to clamp the material.

[0031] Referring to Figures 1 to 8As shown, the fill light assembly includes four LED lights 38, and the four LED lights 38 are symmetrically arranged on the outer wall of one end of the industrial camera 13 close to the sunshade 19, and each LED light 38 is electrically connected to the controller 11. When the material to be grasped is flattened and causes a shadow, it will affect the image acquisition effect of the industrial camera 13, thereby affecting the grasping operation of the manipulator. At this time, the four LED lights 38 are started by the controller 11 to provide lighting for the location of the material, brighten the light, eliminate the shadow, make the image taken by the industrial camera 13 clearer, and facilitate the smooth grasping of the manipulator.

[0032] Reference Figures 1 to 8 As shown, the driving assembly includes a second electric push rod 39, an insertion rod 40, a swing rod 41 and an adapter block 42. The adapter block 42 is hinged at one end of the support frame, the second electric push rod 39 is fixed on the adapter block 42, the swing rod 41 is fixed at one end of the hinge shaft, the insertion rod 40 is fixed on the output end of the second electric push rod 39, and an avoidance groove for the insertion rod 40 to slide is provided on the outer wall of the swing rod 41. The second electric push rod 39 is electrically connected to the controller 11. When the surface reflective properties of the flattened material increase, the overexposure probability in the image acquisition is increased, which will cause the photographed material to be overexposed, the photo will appear too bright, and the overall look lacks layering and details, so that the captured material image is not detailed enough, affecting detection and other work, and will also cause the robot to be unable to To accurately grab the material, at this time, the second electric push rod 39 is started through the controller 11, so that its output end extends to the end away from the support frame. Since its output end is fixedly connected to the plug rod 40, the plug rod 40 is plugged into the avoidance groove, the rocker arm 41 is rotatably connected to the support frame through the hinge shaft, and the second electric push rod 39 is rotatably connected to the support frame through the adapter block 42, and the adjustment plate is fixedly connected to the hinge shaft, so that the adjustment plate rotates toward the end close to the lens of the industrial camera 13, and the rotation range of the adjustment plate does not cover the lens and stops, thereby partially blocking the brighter light at the material, thereby reducing the impact of direct light, controlling exposure, and ensuring that the image taken by the industrial camera 13 is clearer, which is beneficial to improving the efficiency and effect of material detection and facilitating the precise mechanical grabbing of materials.

[0033] Reference Figures 1 to 8 As shown, a hydraulic rod 43 is hingedly provided between the support arm 14 and the cantilever 15, and the hydraulic rod 43 is electrically connected to the controller 11. The hydraulic cylinder is started by the controller 11, so that its output end is extended and retracted. Since the support arm 14 and the cantilever 15 are respectively hinged to the two ends of the hydraulic rod 43, the end of the cantilever 15 away from the clamping claw is hinged to the top of the support arm 14, so that the support arm 14 and the clamping mechanism thereon rotate longitudinally, so that the two clamping claws are close to the material, thereby achieving clamping.

[0034] Reference Figures 1 to 8As shown in the figure, a turntable 44 is rotatably provided at the top of the base 12. The top of the turntable 44 is fixedly connected to the bottom of the support arm 14. A rotating shaft is fixedly provided at the bottom of the turntable 44. A stepping motor is installed inside the base 12, and its output end is fixedly connected to the rotating shaft. Thus, the stepping motor can be started through the controller 11, so as to drive the rotation of the turntable 44 and the clamping mechanism at the top of the turntable 44, and realize the transfer of materials.

[0035] The working principle of the present invention: In actual work, the materials will be flattened due to some external force factors during the conveying process. For example, when a cylindrical material is flattened and becomes flat, its diameter will increase and exceed the clamping stroke of the two jaws. However, the height of the material will decrease. At this time, the DC motor 20 is started through the controller 11, and its output end drives the first gear 21 to rotate. Since the second gear 22 is fixedly connected to the first rotating shaft 23, and the first rotating shaft 23 is fixedly connected to the cover 17 through the U-shaped plate 18, the cover 17 and the two jaws on it are driven to rotate longitudinally by 90°, so that the two jaws rotate from the horizontal state to the vertical state to clamp the flattened material. It should be noted that since the robot generally grasps the target object through a program preset inside, the robot approaches and grasps the target object along the preset movement trajectory line. When the shape or position of the target object changes, the manipulator needs to re-plan the path and parameters to achieve precise grasping. By designing the above structure, even if the shape of the material changes, it can prevent the situation of grasping deviation or missing grasping, thereby improving the working efficiency and effect of the manipulator.

[0036] While the first rotating shaft 23 rotates, since one end of the first rotating shaft 23 away from the U-shaped plate 18 is fixedly connected to the driving wheel 27, the driven wheel 28 is fixedly connected to the transmission shaft 30, and the driving wheel 27 and the driven wheel 28 are sleeved by the belt 29, the transmission shaft 30 is driven to rotate. Since the worm gear 25 is fixedly connected to the second rotating shaft 24, the worm 26 is rotatably connected to the U-shaped frame, the worm gear 25 is meshed with the worm 26, the industrial camera 13 is fixedly connected to the second rotating shaft 24, and the second rotating shaft 24 is rotatably connected to the U-shaped frame, the industrial camera 13 is driven to rotate slightly towards the end close to the jaws, so that the lens can quickly photograph all the flattened materials, and it will not cause missed shooting due to the shape change of the materials, avoiding the generation of shooting dead angles, which is beneficial to improving the image acquisition effect of the industrial camera 13.

[0037] When it is necessary to grasp the material, the first electric push rod 31 is started through the controller 11, so that its output end contracts. Since its output end is fixedly connected to the push block 32, and the push block 32 is fixedly connected to the trapezoidal top block 33, the trapezoidal top block 33 contracts towards the end close to the first electric push rod 31.

[0038] In the initial state, the reset spring 37 is in a stretched state. When the trapezoidal top block 33 contracts toward one end close to the first electric push rod 31, since the outer wall of one end of the wedge-shaped docking block 34 is slidably connected to the outer wall of one end of the trapezoidal top block 33, the sliding contact surface between the wedge-shaped docking block 34 and the trapezoidal top block 33 is an inclined surface, and each wedge-shaped docking block 34 is slidably connected to the inside of the cover shell 17, so that the reset spring 37 is transformed from a stretched state to a taut state, so that the two wedge-shaped docking blocks 34 are close to each other, and each clamping jaw is fixedly connected to a wedge-shaped docking block 34, so that the two clamping jaws are close to each other to clamp the material.

[0039] When the material to be grasped is flattened and causes a shadow, it will affect the image acquisition effect of the industrial camera 13, thereby affecting the grasping operation of the robot. At this time, the four LED lights 38 are started by the controller 11 to provide lighting for the location of the material, brighten the light, eliminate the shadow, and make the image taken by the industrial camera 13 clearer, which is also convenient for the robot to grasp smoothly.

[0040] When the reflective properties of the flattened material surface increase, the overexposure probability in image acquisition increases, which will cause the material to be overexposed, the photo will appear too bright, and the overall look lacks layering and details, so that the image of the material is not detailed enough, affecting the detection work, and will also cause the manipulator to be unable to accurately grasp the material. At this time, the second electric push rod 39 is started by the controller 11, so that its output end extends to the end away from the support frame. Since its output end is fixedly connected to the plug rod 40, the plug rod 40 is plugged into the avoidance groove, the swing rod 41 is rotatably connected to the support frame through the hinge shaft, the second electric push rod 39 is rotatably connected to the support frame through the adapter block 42, and the adjustment plate is fixedly connected to the hinge shaft, so that the adjustment plate rotates toward the end close to the lens of the industrial camera 13, and the rotation amplitude of the adjustment plate does not cover the lens and stops, thereby partially blocking the brighter light at the material, thereby reducing the influence of direct light, controlling exposure, and ensuring that the image taken by the industrial camera 13 is clearer, which is beneficial to improving the detection efficiency and effect of the material, and facilitating the mechanical accurate grasping of the material.

[0041] The hydraulic cylinder is started by the controller 11, so that its output end is extended and retracted. Since the support arm 14 and the cantilever 15 are respectively hinged to the two ends of the hydraulic rod 43, the end of the cantilever 15 away from the clamping claw is hinged to the top of the support arm 14, so that the support arm 14 and the clamping mechanism thereon rotate longitudinally, so that the two clamping claws are close to the material, thereby achieving clamping.

[0042] A rotating shaft is fixedly provided at the bottom of the turntable 44, and a stepper motor is installed inside the base 12, whose output end is fixedly connected to the rotating shaft, so that the stepper motor can be started by the controller 11, thereby driving the rotation of the turntable 44 and the clamping mechanism on the top of the turntable 44 to realize the transfer of materials.

Claims

1. An automated shooting manipulator dedicated for image acquisition, comprising a bottom plate (10), characterized in that: it further comprises a controller (11), a base (12), an industrial camera (13), a clamping mechanism, an angle adjustment mechanism and a light source adjustment mechanism; The base (12) is arranged on the top of the bottom plate (10), a support arm (14) is rotatably arranged on the top of the base (12), and a cantilever (15) is hinged on the top of the support arm (14); One end of the cantilever (15) away from the support arm (14) is fixedly provided with a support plate (16), a vertical plate is fixedly arranged at the bottom of the support plate (16), the clamping mechanism is arranged on the outer wall of the vertical plate, and the clamping mechanism comprises a housing (17), a rotating assembly, a telescopic assembly, two sliding assemblies and two jaws. The rotating assembly is inserted on the outer wall of the vertical plate, the housing (17) is fixedly arranged on the rotating assembly through a U-shaped plate (18), the telescopic assembly is inserted on the housing (17), the two sliding assemblies are symmetrically arranged inside the housing (17), and each jaw is fixedly arranged on one sliding assembly; The angle adjustment mechanism is arranged on the top of the support plate (16), and the angle adjustment mechanism comprises a transmission assembly and a fine adjustment assembly. A U-shaped frame is fixedly arranged on the top of the support plate (16), the fine adjustment assembly is arranged on the U-shaped frame, the camera is fixedly arranged on the fine adjustment assembly, and the transmission assembly is arranged between the rotating assembly and the fine adjustment assembly; The light source adjustment mechanism comprises a light shielding plate (19), a supplementary light assembly and a driving assembly. A support frame is fixedly arranged on the top of the U-shaped frame, the supplementary light assembly is arranged on the outer wall of the industrial camera (13), the light shielding plate (19) is rotatably arranged on the support frame through a hinge shaft, and the driving assembly is arranged between the support frame and the light shielding plate (19).

2. The dedicated automatic shooting manipulator for image acquisition according to claim 1, wherein: The rotating assembly comprises a DC motor (20), a first gear (21), a second gear (22) and a first rotating shaft (23). The DC motor (20) is inserted on the vertical plate, the first gear (21) is fixedly arranged on its output end, the first rotating shaft (23) is rotatably arranged on the vertical plate, the second gear (22) is fixedly arranged on the first rotating shaft (23), the first gear (21) is meshed with the second gear (22), one end of the first rotating shaft (23) is fixedly connected with one end of the U-shaped plate (18), and the DC motor (20) is electrically connected with the controller (11).

3. The special automatic shooting manipulator for image acquisition according to claim 2, characterized in that: The fine adjustment assembly comprises a second rotating shaft (24), a worm gear (25) and a worm (26). The second rotating shaft (24) is rotatably arranged on the top of the U-shaped frame, the worm gear (25) is fixedly arranged on the second rotating shaft (24), the worm (26) is rotatably arranged on the outer wall of the U-shaped frame, and the worm gear (25) is meshed with the worm (26).

4. An automated shooting manipulator dedicated to image acquisition according to claim 3, characterized in that: The transmission assembly comprises a driving wheel (27), a driven wheel (28), a belt (29) and a transmission shaft (30). The driving wheel (27) is fixedly arranged at one end of the first rotating shaft (23) away from the second gear (22), the transmission shaft (30) is fixedly arranged at one end of the worm (26), the driven wheel (28) is fixedly arranged at one end of the transmission shaft (30) away from the worm (26), and the belt (29) is sleeved between the driving wheel (27) and the driven wheel (28).

5. The automated shooting manipulator dedicated to image acquisition according to claim 4, characterized in that: The telescopic assembly comprises a first electric push rod (31), a push block (32) and a trapezoidal top block (33); the first electric push rod (31) is inserted into the outer wall of the housing (17); the push block (32) is fixed on the output end thereof; the trapezoidal top block (33) is fixed on the push block (32); and the first electric push rod (31) is electrically connected to the controller (11).

6. The automated shooting manipulator dedicated to image acquisition according to claim 5, wherein: Each sliding assembly comprises a wedge-shaped docking block (34), a slider (35), a limit block (36) and a return spring (37). The wedge-shaped docking block (34) is slidably arranged inside the cover (17) via two slide bars. The slider (35) is fixedly arranged on the top of the wedge-shaped docking block (34). The top of the cover (17) is provided with a slide groove for the slider (35) to slide. The limit block (36) is fixedly arranged at one end of the slide groove away from the top of the slider (35). The return spring (37) is fixedly arranged between the slider (35) and the limit block (36). The outer wall of one end of the wedge-shaped docking block (34) is slidably connected to the outer wall of one end of the trapezoidal top block (33). Each clamping claw is fixedly connected to a wedge-shaped docking block (34).

7. The automatic shooting manipulator dedicated to image acquisition according to claim 6, characterized in that: The fill light assembly comprises four LED lighting lamps (38), which are symmetrically arranged on an outer wall of one end of the industrial camera (13) close to the light shielding plate (19), and each LED lighting lamp (38) is electrically connected to the controller (11).

8. The special automatic shooting manipulator for image acquisition according to claim 7, characterized in that: The driving assembly comprises a second electric push rod (39), an insertion rod (40), a swing rod (41) and a transfer block (42); the transfer block (42) is hingedly arranged at one end of the support frame; the second electric push rod (39) is fixedly arranged on the transfer block (42); the swing rod (41) is fixedly arranged at one end of the hinge shaft; the insertion rod (40) is fixedly arranged on the output end of the second electric push rod (39); an avoidance groove for the insertion rod (40) to slide is provided on the outer wall of the swing rod (41); and the second electric push rod (39) is electrically connected to the controller (11).

9. An automated shooting manipulator dedicated to image acquisition according to claim 8, characterized in that: A hydraulic rod (43) is hingedly provided between the support arm (14) and the cantilever (15), and the hydraulic rod (43) is electrically connected to the controller (11).

10. An automated shooting manipulator dedicated for image acquisition according to claim 9, characterized in that: A turntable (44) is rotatably provided on the top of the base (12), and the top of the turntable (44) is fixedly connected to the bottom of the support arm (14).

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