Sorting mechanical arm based on visual identification

Abstract

The utility model relates to the technical field of mechanical arms, in particular to a sorting mechanical arm based on visual identification, which comprises a base, a rotating seat, a first rotating arm, a second rotating arm, a suspension arm, a supporting plate and a clamping plate, the whole base is of a circular structure, a rotating table is arranged on the upper portion of the base, and the lower portion of the rotating seat is installed on the rotating table through a connecting seat; one end of the first rotating arm is rotationally connected with the rotating seat, and the other end of the first rotating arm is connected with the second rotating arm; a telescopic arm is nested in the rotating arm II; the lifting arm is arranged on the lower side of the end part of the telescopic arm; an adjusting arm is nested in the lifting arm, and the bottom of the adjusting arm is rotationally connected with the supporting plate; a plurality of sets of adjusting frames are arranged on the lower portion of the supporting plate, and the clamping plates are installed on the adjusting frames and move in the length direction of the adjusting frames. The supporting plate is arranged to be a circular plate, and a digital camera is arranged at the circle center of the lower portion of the supporting plate.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to a sorting mechanical arm based on visual recognition. Background Art

[0002] The robot arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion-proof and other fields. The robot arm is a complex system with uncertainties such as parameter perturbation, external interference and unmodeled dynamics.

[0003] In many domestic factories, sorting work is done manually on the production lines, which not only consumes a lot of manpower and material resources, but also has low work efficiency. Manual identification and scanning are also required during sorting, which is very inconvenient. Utility Model Content

[0004] The purpose of the utility model is to provide a sorting robot arm based on visual recognition to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a sorting robot arm based on visual recognition, comprising a base, a rotating base, a rotating arm one, a rotating arm two, a hanging arm, a support plate, and a splint, the base being an overall circular structure, a rotating table being arranged on the upper part of the base, and the lower part of the rotating base being mounted on the rotating table through a connecting base; one end of the rotating arm one is rotatably connected to the rotating base, and the other end of the rotating arm one is connected to the rotating arm two; a telescopic arm is nested in the rotating arm two, and the hanging arm is arranged at the lower side of the end of the telescopic arm; an adjusting arm is nested in the hanging arm, and the bottom of the adjusting arm is rotatably connected to the support plate; a plurality of adjusting frames are arranged at the lower part of the support plate, and the splint is mounted on the adjusting frame and moves along the length direction of the adjusting frame; the support plate is arranged as a circular plate, and a digital camera is arranged at the center of the circle at the lower part of the support plate.

[0006] Preferably, the top of the rotating seat is inclined, and one end of the rotating arm is rotatably connected to the inclined part of the top of the rotating seat through a connector; the other end of the rotating arm is provided with a pad, and two rotating frames are relatively arranged on the pad, and the two ends of the rotating arm are installed between the two rotating frames through a connector.

[0007] Preferably, a pad plate 2 is provided at the lower side of the end of the telescopic arm, two rotating frames 2 are arranged opposite to each other on the pad plate 2, and the end of the boom is installed between the two rotating frames 2 through a connector 3.

[0008] Preferably, the bottom of the adjusting arm is rotatably connected to the connecting block of the supporting plate via a rotating block, and reinforcing plates are provided on the side of the connecting block in a ring array.

[0009] Preferably, the adjustment frame is distributed in a ring array, and a lead screw driven by a servo motor is arranged inside the adjustment frame; a slider is fitted on the lead screw, a reversing plate is installed at the lower part of the slider through a rotating shaft, and the clamping plate is fixedly connected to the reversing plate.

[0010] Preferably, the clamping plate is in a strip-shaped structure as a whole, a partition is provided at the lower part of the clamping plate, and the partition is provided at one-third of the length of the clamping plate; and buffer pads are provided on the clamping plate and the partition.

[0011] Compared with the prior art, the beneficial effects of the present invention are as follows: the robotic arm provided by the present invention changes its angle by rotating a rotating arm, and is also provided with a nested telescopic arm and an adjusting arm, which can flexibly adjust the position of the robotic arm to adapt to different sorting scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the structure of the utility model;

[0013] Figure 2 It is a schematic diagram of the splint arrangement of the utility model;

[0014] Numbers in the figure: 1. base; 11. rotating table; 2. rotating seat; 21. connecting seat; 3. rotating arm one; 31. connecting head one; 32. pad one; 33. rotating frame one; 4. rotating arm two; 41. connecting head two; 42. telescopic arm; 43. pad two; 44. rotating frame two; 5. hanging arm; 51. adjusting arm; 52. rotating block; 53. connecting head three; 6. supporting plate; 61. connecting block; 62. reinforcing plate; 7. adjusting frame; 71. screw rod; 72. slider; 73. reversing plate; 8. splint; 81. partition; 82. buffer pad; 9. digital camera. DETAILED DESCRIPTION

[0015] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0016] In the description of the present invention, it should be noted that the terms "vertical", "up", "down", "horizontal", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0017] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0018] See also Figure 1-2 The utility model provides a technical solution: a sorting robot arm based on visual recognition, comprising a base 1, a rotating base 2, a rotating arm 1 3, a rotating arm 2 4, a hanging arm 5, a support plate 6, and a clamping plate 8. The base 1 is a circular structure as a whole, and a rotating table 11 is arranged on the upper part of the base 1, and the lower part of the rotating base 2 is installed on the rotating table 11 through a connecting seat 21; one end of the rotating arm 1 3 is rotatably connected to the rotating base 2, and the other end of the rotating arm 1 3 is connected to the rotating arm 2 4; a telescopic arm 42 is nested in the rotating arm 2 4, and the hanging arm 5 is arranged at the lower side of the end of the telescopic arm 42; an adjusting arm 51 is nested in the hanging arm 5, and the bottom of the adjusting arm 51 is rotatably connected to the support plate 6; a plurality of groups of adjusting frames 7 are arranged at the lower part of the support plate 6, and the clamping plate 8 is installed on the adjusting frame 7 and moves along the length direction of the adjusting frame 7; the support plate 6 is arranged as a circular plate, and a digital camera 9 is arranged at the center of the lower part of the support plate 6.

[0019] Furthermore, the top of the rotating seat 2 is inclined, and the end of the rotating arm 3 is rotatably connected to the inclined part of the top of the rotating seat 2 through a connector 31; a pad 32 is provided at the other end of the rotating arm 3, and two rotating frames 33 are relatively arranged on the pad 32, and the end of the rotating arm 4 is installed between the two rotating frames 33 through a connector 41.

[0020] Furthermore, a backing plate 43 is provided at the lower side of the end of the telescopic arm 42 , and two rotating frames 44 are arranged opposite to each other on the backing plate 43 , and the end of the boom 5 is installed between the two rotating frames 44 through a connector 53 .

[0021] Furthermore, the bottom of the adjustment arm 51 is rotatably connected to the connection block 61 of the support plate 6 via the rotating block 52 , and the side of the connection block 61 is provided with reinforcing plates 62 in a ring array.

[0022] Furthermore, the adjustment frame 7 is distributed in a ring array, and a lead screw 71 driven by a servo motor is arranged inside the adjustment frame 7; a slider 72 is fitted on the lead screw 71, a reversing plate 73 is installed at the lower part of the slider 72 through a rotating shaft, and the clamping plate 8 is fixedly connected to the reversing plate 73.

[0023] Furthermore, the clamping plate 8 is in a strip-shaped structure as a whole, and a partition plate 81 is provided at the lower part of the clamping plate 8 , and the partition plate 81 is provided at one-third of the length of the clamping plate 8 ; and a buffer pad 82 is provided on both the clamping plate 8 and the partition plate 81 .

[0024] Working principle: the rotating seat 2, rotating arm 1 3, rotating arm 2 4, hanging arm 5, and support plate 6 can rotate to adjust their own positions, and then adjust the position of the clamping plate 8 to cooperate with the work, while the telescopic arm 42 and the adjustment arm 51 can also be telescopic to further cooperate with the work requirements. A digital camera 9 is set at the center of the support plate 6, and the digital camera 9 takes pictures of the clamped object for visual recognition.

[0025] A lead screw 71 driven by a servo motor is arranged in the adjusting frame 7, and the lead screw 71 is engaged with the slider 72 to drive the slider 72 to move; the slider 72 is connected to the clamping plate 8 through the reversing plate 73, thereby driving the clamping plate 8 to move; the clamping plate 8 moves back and forth along the adjusting frame 7, thereby achieving the effect of clamping or releasing.

[0026] The clamping plate 8 itself can rotate to change the position of the partition 81. When the partition 81 is on the outside, the clamping plate 8 has a larger clamping range. Conversely, when the partition 81 is on the inside, the clamping plate 8 has a smaller clamping range to meet work needs. The setting of the buffer pad 82 can achieve a buffering effect.

[0027] The installation of the rotating seat 2, the rotating arm 1 3, the rotating arm 2 4, the boom 5, and the support plate 6 are all provided with corresponding rotating motors to drive the rotation, and the angle is adjusted to meet the use requirements; the telescopic arm 42 and the adjusting arm 51 are installed in a nested structure, and a cylinder or a hydraulic cylinder is arranged in the rotating arm 2 4 and the boom 5 to realize the driving effect, and the length is adjusted to meet the use requirements; the above-mentioned adjustment method has been maturely applied in the market, so the utility model will not be repeated.

[0028] It is worth noting that the entire device is controlled by a main control button. Since the device matched with the control button is a common device and belongs to the existing mature technology, its electrical connection relationship and specific circuit structure will not be described in detail here.

[0029] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A sorting robot arm based on visual recognition, characterized in that: The invention comprises a base (1), a rotating seat (2), a rotating arm 1 (3), a rotating arm 2 (4), a hanging arm (5), a supporting plate (6), and a clamping plate (8); the base (1) is in an overall circular structure; a rotating platform (11) is arranged on the upper part of the base (1); the lower part of the rotating seat (2) is mounted on the rotating platform (11) via a connecting seat (21); one end of the rotating arm 1 (3) is rotatably connected to the rotating seat (2); the other end of the rotating arm 1 (3) is connected to the rotating arm 2 (4); a rotating arm 2 (4) is nested inside the rotating arm 2 (4); A telescopic arm (42) is provided, and the suspension arm (5) is arranged at the lower side of the end of the telescopic arm (42); an adjustment arm (51) is nested in the suspension arm (5), and the bottom of the adjustment arm (51) is rotatably connected to a support plate (6); a plurality of adjustment frames (7) are provided at the lower part of the support plate (6), and the clamping plate (8) is installed on the adjustment frame (7) and moves along the length direction of the adjustment frame (7); the support plate (6) is arranged as a circular plate, and a digital camera (9) is arranged at the center of the lower part of the support plate (6).

2. A visual recognition-based sorting robot according to claim 1, characterized in that: The top of the rotating seat (2) is arranged at an angle, and the end of the rotating arm (3) is rotatably connected to the inclined part of the top of the rotating seat (2) through a connector (31); a pad (32) is arranged at the other end of the rotating arm (3), and two rotating frames (33) are arranged on the pad (32) in a relative manner, and the end of the rotating arm (4) is installed between the two rotating frames (33) through a connector (41).

3. The visual recognition-based sorting robot according to claim 1, characterized in that: A second pad (43) is provided at the lower side of the end of the telescopic arm (42), two second rotating frames (44) are arranged opposite to each other on the second pad (43), and the end of the boom (5) is installed between the two second rotating frames (44) through a third connector (53).

4. The visual recognition-based sorting robot according to claim 1, characterized in that: The bottom of the regulating arm (51) is rotatably connected to the connecting block (61) of the supporting plate (6) via a rotating block (52), and reinforcing plates (62) are arranged in a circular array on the side of the connecting block (61).

5. The visual recognition-based sorting robot according to claim 1, characterized in that: The adjustment frames (7) are distributed in a ring array, and a lead screw (71) driven by a servo motor is arranged inside the adjustment frame (7); a slider (72) is fitted on the lead screw (71), a reversing plate (73) is installed at the lower part of the slider (72) via a rotating shaft, and the clamping plate (8) is fixedly connected to the reversing plate (73).

6. The visual recognition-based sorting robot according to claim 1, characterized in that: The clamping plate (8) is in a strip-shaped structure as a whole. A partition plate (81) is provided at the lower part of the clamping plate (8). The partition plate (81) is provided at one third of the length of the clamping plate (8). Buffer pads (82) are provided on both the clamping plate (8) and the partition plate (81).

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