Intelligent loading and unloading robot based on visual servo

Abstract

The utility model discloses an intelligent loading and unloading robot based on visual servo, and belongs to the technical field of robots. The machine claw is used for loading and unloading articles and is arranged on one side of the loading and unloading vehicle body; the assembling plate is detachably connected to one side of the loading and unloading vehicle body, a plurality of hydraulic rods are embedded in the bottom end of the assembling plate, and the bottom ends of the hydraulic rods are connected with an assembling box; the protection box is fixedly connected with the assembly box through a connecting block and used for protecting the loading and unloading vehicle body, and openings are formed in the side faces and the bottom end of the protection box; the protection plate is fixedly connected with the protection box through a power combination, the bottom end of the protection plate is connected with an upper hollow plate, a lower hollow plate is arranged in an inner cavity of the upper hollow plate, and a protection frame inserted into the lower hollow plate is arranged in an inner cavity of the assembly box; the periphery of the protection frame and the periphery of the lower hollow plate are each connected with two sliding blocks. The intelligent loading and unloading robot based on visual servo not only can perform protection, but also can perform clamping and grabbing.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, in particular to an intelligent loading and unloading robot based on visual servoing. Background Art

[0002] Existing palletizing and unloading equipment has achieved efficient and fully automatic palletizing and unloading. Most of the existing visual servo intelligent loading and unloading robots use cameras that are fixed on mechanical claws for loading and unloading. Loading and unloading robots are especially used on flammable and explosive goods. They are remotely controlled by staff to reduce the possibility of accidental impact on staff. Traditional loading and unloading robots do not have protection functions and can easily affect the vehicle body and cause overall paralysis.

[0003] After searching, the Chinese patent document (application publication number CN114604649A) discloses an intelligent loading and unloading robot based on visual servo, including a loading and unloading vehicle body, a rotating base platform is movably provided at the rear of the loading and unloading vehicle body, a telescopic arm is hingedly provided at the top of the rotating base platform, a lifting arm is hingedly provided at the end of the telescopic arm, and a lifting cylinder is fixedly provided inside the lifting arm. The present invention performs cargo loading and unloading operations through a loading and unloading manipulator. When the loading and unloading manipulator moves to the top of the cargo, the motion motor drives the motion gear to rotate, and the meshing of the motion gear and the toothed rail is coordinated to realize the movement of the motion module around the annular track ring, so that the visual servo camera can take all-round photos of the cargo, accurately collect visual information, and thus improve the cargo loading and unloading efficiency. The loading and unloading robot does not have a protection function, and it is easy to affect the vehicle body and cause overall paralysis. Utility Model Content

[0004] The utility model aims to provide an intelligent loading and unloading robot based on visual servoing to solve the problems raised in the background technology.

[0005] To achieve the above purpose, the utility model provides the following technical solution: an intelligent loading and unloading robot based on visual servo, comprising:

[0006] Loading and unloading vehicle bodies;

[0007] The robot claw is used for grabbing objects during loading and unloading and is set on one side of the loading and unloading vehicle body;

[0008] An assembly plate is detachably connected to one side of the loading and unloading vehicle body, a plurality of hydraulic rods are embedded in the bottom end of the assembly plate, and an assembly box is connected to the bottom ends of the plurality of hydraulic rods;

[0009] The protection box is connected and fixed to the assembly box through a connection block and is used to protect the loading and unloading vehicle body. The side and bottom of the protection box are provided with openings;

[0010] The protection plate is connected and fixed to the protection box through a power assembly, the bottom end of the protection plate is connected to an upper hollow plate, the inner cavity of the upper hollow plate is provided with a lower hollow plate, and the inner cavity of the assembly box is provided with a protection frame inserted into the lower hollow plate;

[0011] The outer periphery of the protection frame and the outer periphery of the lower hollow plate are both connected to two sliding blocks, and the bottom end of the upper hollow plate and the bottom end of the lower hollow plate are both connected to limiting blocks for limiting the sliding blocks.

[0012] As a preferred implementation scheme, a plurality of electric push rods are embedded in the protection plate, the moving parts of the electric push rods are connected and fixed to the machine claws, and a camera based on visual servoing is installed at the bottom end of the protection plate.

[0013] As a preferred embodiment, the machine claw comprises:

[0014] Install the lifting lugs;

[0015] Two symmetrically arranged arc-shaped claws, the arc-shaped claws are rotatably connected to the mounting ears via a rotating shaft;

[0016] Two servo motors are mounted on the sides of the mounting ears to power the shaft.

[0017] As a preferred embodiment, a vertical support plate is provided between the two arc-shaped claws, and a plurality of auxiliary blocks are connected to the side surfaces of the vertical support plate. The auxiliary blocks are rotationally connected to the arc-shaped claws via a damping shaft.

[0018] As a preferred embodiment, a clamping plate for clamping and fixing objects is connected between the two vertical support plates, a plurality of counterweight blocks are connected to the bottom end of the vertical support plate, a plurality of insertion rods are connected to the side of the clamping plate, and a plurality of circular channels for the insertion rods to pass through are opened on the side of the vertical support plate.

[0019] As a preferred embodiment, a pressure sensor is connected to the side of the clamping plate, and the pressure sensor is connected and fixed to the vertical support plate through a spring.

[0020] As a preferred embodiment, linear motors are installed on both sides of the upper hollow plate, and the moving parts of the two linear motors are commonly connected to a C-shaped protective plate for protecting the machine claws.

[0021] Compared with the prior art, the technical effects and advantages of the utility model are as follows:

[0022] The intelligent loading and unloading robot based on visual servo, when in use, the protection box can protect the loading and unloading vehicle body, and the upper hollow plate and the lower hollow plate cooperate with the protection box to protect the side of the machine claw close to the loading and unloading vehicle body when the power combination is working. After the grabbing is completed, when it is necessary to move and load and unload, the electric push rod is controlled to retract so that the machine claw is close to the protection plate, and the linear motor is controlled to drive the protection plate to move, thereby protecting the machine claw and the grabbed objects;

[0023] The intelligent loading and unloading robot based on visual servoing has a sliding connection between the lower hollow plate, the upper hollow plate and the protection frame, which is convenient for activities to unfold. The slider can ensure the stability of sliding, and the limit block can prevent the slider from falling out, thereby ensuring the continuity of protection.

[0024] The intelligent loading and unloading robot based on visual servoing, the servo motor of the machine claw drives the arc claw to rotate, so that the two arc claws can grasp. If clamping is required, an auxiliary block can be installed. The rotation of the arc claw allows the two clamps to clamp and fix the objects. The degree of clamping can be understood from the data of the pressure sensor.

[0025] This intelligent loading and unloading robot based on visual servoing can not only provide protection, but also perform clamping and grasping. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 It is a schematic diagram of the structure of the utility model;

[0028] Figure 2 It is a left side view of the protection plate and the electric push rod of the utility model;

[0029] Figure 3 It is a left side view of the clamping plate and the vertical support plate of the utility model;

[0030] Figure 4 It is a cross-sectional view of the upper hollow plate and the lower hollow plate of the utility model;

[0031] Figure 5 It is a structural schematic diagram of the loading and unloading vehicle body of the utility model.

[0032] Description of reference numerals:

[0033] In the figure: 1. Loading and unloading vehicle body; 2. Machine claw; 3. Assembly plate; 4. Hydraulic rod; 5. Assembly box; 6. Protection box; 7. Protection plate; 8. Upper hollow plate; 9. Lower hollow plate; 10. Protection frame; 11. Slider; 12. Limit block; 13. Electric push rod; 14. Camera; 15. Linear motor; 16. Protection plate;

[0034] 21. Mounting lugs; 22. Arc claws; 23. Servo motor; 24. Vertical support plate; 25. Auxiliary block; 26. Clamp plate; 27. Insert rod; 28. Pressure sensor; 29. ​​Spring. DETAILED DESCRIPTION

[0035] In the following description, a large number of specific details are given to provide a more thorough understanding of the utility model. However, it is obvious to those skilled in the art that the utility model can be implemented without one or more of these details. In other examples, in order to avoid confusion with the utility model, some technical features known in the art are not described.

[0036] Unless otherwise defined, the directions of up, down, left, right, front, back, inside and outside involved in this document are based on the directions of up, down, left, right, front, back, inside and outside in the figures shown in the present utility model, and are explained here together.

[0037] The connection method can be bonding, welding, bolt connection, etc., depending on actual needs.

[0038] This application is mainly aimed at loading and unloading finished civil explosives. Due to its specific characteristics, remote control settings are required. Because it is necessary to reduce the damage and impact of the explosion on the overall equipment, a protective function is designed to play a protective function.

[0039] See also Figures 1 to 5 As shown, an intelligent loading and unloading robot based on visual servoing, this embodiment includes:

[0040] The loading and unloading vehicle body 1, the loading and unloading vehicle body 1 and the protective box 6 are all equipped with a plurality of sensors on their peripheries, so that the whole has the functions of autonomous movement and obstacle avoidance;

[0041] The machine claw 2 is used for loading and unloading objects and is arranged on one side of the loading and unloading vehicle body 1. A counterweight is installed on the side of the loading and unloading vehicle body 1 away from the machine claw 2 to ensure the stability of the overall center of gravity;

[0042] The assembly plate 3 is detachably connected to one side of the loading and unloading vehicle body 1. A plurality of hydraulic rods 4 are embedded and installed at the bottom end of the assembly plate 3. The bottom ends of the plurality of hydraulic rods 4 are connected to an assembly box 5. During loading and unloading, the hydraulic rods 4 are controlled to extend so that the assembly box 5 touches the ground, thereby improving the overall stability.

[0043] A protection box 6 is connected and fixed to the assembly box 5 through a connection block, and is used to protect the loading and unloading vehicle body 1. The side and bottom of the protection box 6 have openings;

[0044] The protection plate 7 is connected and fixed to the protection box 6 through a power combination. The bottom end of the protection plate 7 is connected to an upper hollow plate 8. The inner cavity of the upper hollow plate 8 is provided with a lower hollow plate 9. The inner cavity of the assembly box 5 is provided with a protection frame 10 inserted into the lower hollow plate 9. Linear motors 15 are installed on both sides of the upper hollow plate 8. The moving parts of the two linear motors 15 are commonly connected to a C-shaped protection plate 16 for protecting the machine claw 2. When in use, the protection box 6 can protect the loading and unloading vehicle body 1. When the upper hollow plate 8 and the lower hollow plate 9 are working in the power combination, the power combination relies on the cooperation with the protection box 6 to protect the side of the machine claw 2 close to the loading and unloading vehicle body 1. After the grasping is completed, when it is necessary to move and load and unload, the linear motor 15 is controlled to drive the protection plate 16 to move, thereby protecting the machine claw 2 and the grasped objects.

[0045] In order to ensure the continuity of protection, two sliders 11 are connected to the outer periphery of the protection frame 10 and the outer periphery of the lower hollow plate 9, and the bottom ends of the upper hollow plate 8 and the lower hollow plate 9 are connected to limit blocks 12 for limiting the sliders 11. The sliders 11 can ensure the stability of sliding, and the limit blocks 12 can prevent the sliders 11 from falling out, thereby ensuring the continuity of protection.

[0046] The protection plate 7 is embedded with a plurality of electric push rods 13, the moving part of the electric push rod 13 is connected and fixed to the machine claw 2, and a camera 14 based on visual servoing is installed at the bottom end of the protection plate 7, and the camera 14 is used to realize functions such as 5G real-time monitoring and scheduling.

[0047] The Robot Claw 2 includes:

[0048] Mounting lug 21;

[0049] Two symmetrically arranged arc-shaped claws 22, the arc-shaped claws 22 are rotatably connected to the mounting lugs 21 via a rotating shaft;

[0050] Two servo motors 23 for providing power to the rotating shaft are installed on the side of the installation ear 21. The staff remotely controls the loading and unloading vehicle body 1 to move to the specified position, controls the servo motor 23 to drive the arc-shaped claw 22 to rotate, and realizes grabbing.

[0051] In order to clamp, a vertical support plate 24 is provided between the two arc-shaped claws 22, and a plurality of auxiliary blocks 25 are connected to the side of the vertical support plate 24. The auxiliary blocks 25 are rotatably connected to the arc-shaped claws 22 through a damping shaft, so that when not in use, the vertical support plate 24 is in a vertical state. However, when clamping with force, the rotatable design and the rotating design can meet the rotation of the arc-shaped claws 22. A clamping plate 26 for clamping and fixing objects is connected between the two vertical support plates 24, and a plurality of counterweight blocks are connected to the bottom end of the vertical support plate 24. A plurality of plug rods 27 are connected to the side of the clamping plate 26. A plurality of circular channels for the plug rods 27 to pass through are opened on the side of the vertical support plate 24. A pressure sensor 28 is connected to the side of the clamping plate 26, and the pressure sensor 28 is connected and fixed to the vertical support plate 24 by a spring 29. After the clamping plate 26 is installed, the servo motor 23 drives the arc-shaped claws 22 to rotate, so that the two clamping plates 26 clamp and fix the objects, and the degree of clamping can be understood from the data of the pressure sensor 28.

[0052] The loading and unloading body 1, hydraulic rod 4, electric push rod 13, camera 14, linear motor 15, servo motor 23 and pressure sensor 28 are all conventional instruments. Their working principles, sizes and models are irrelevant to the problems solved by this application, so they are not described in detail. The control method of the utility model is controlled by a controller. The controller is remotely controlled. The control circuit of the controller can be realized by simple programming by technicians in this field. The provision of power is also common knowledge in this field. The utility model is mainly used to protect mechanical devices, so the utility model will no longer explain the control method and circuit connection in detail.

[0053] How it works

[0054] In the intelligent loading and unloading robot based on visual servo, the staff remotely controls the loading and unloading body 1 to move to the specified position, controls the servo motor 23 to drive the arc claw 22 to rotate, so that the two clamping plates 26 clamp and fix the objects, understands the degree of clamping from the data of the pressure sensor 28, controls the electric push rod 13 to shrink, so that the mechanical claw 2 is close to the protection plate 7, and controls the power combination to drive the protection plate 7 to move up. When in use, the protection box 6 can protect the loading and unloading body 1. When the upper hollow plate 8 and the lower hollow plate 9 are working in the power combination, they cooperate with the protection box 6 to protect the side of the machine claw 2 close to the loading and unloading body 1. After the grabbing is completed, when it is necessary to move and load and unload, the linear motor 15 is controlled to drive the protection plate 16 to move, thereby protecting the machine claw 2 and the grabbed objects.

[0055] It should be noted that, in this article, relational terms such as one and two are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions. The sentence "includes an element defined by ... does not exclude the existence of other identical elements in the process, method, article or device including the element".

[0056] 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. An intelligent loading and unloading robot based on visual servoing, characterized in that: include: Loading and unloading vehicle bodies (1); A machine claw (2), used for grabbing objects during loading and unloading, and arranged on one side of the loading and unloading vehicle body (1); An assembly plate (3) is detachably connected to one side of the loading and unloading vehicle body (1), a plurality of hydraulic rods (4) are embedded in the bottom end of the assembly plate (3), and an assembly box (5) is connected to the bottom ends of the plurality of hydraulic rods (4); A protection box (6) is connected and fixed to the assembly box (5) via a connection block and is used to protect the loading and unloading vehicle body (1), and the side and bottom of the protection box (6) both have openings; The protection plate (7) is connected and fixed to the protection box (6) through a power assembly, the bottom end of the protection plate (7) is connected to an upper hollow plate (8), the inner cavity of the upper hollow plate (8) is provided with a lower hollow plate (9), and the inner cavity of the assembly box (5) is provided with a protection frame (10) inserted into the lower hollow plate (9); The outer periphery of the protection frame (10) and the outer periphery of the lower hollow plate (9) are both connected to two sliders (11), and the bottom end of the upper hollow plate (8) and the bottom end of the lower hollow plate (9) are both connected to limit blocks (12) for limiting the sliders (11).

2. The intelligent loading and unloading robot based on visual servoing according to claim 1 is characterized in that: The protection plate (7) is embedded with a plurality of electric push rods (13), the moving parts of the electric push rods (13) are connected and fixed to the machine claw (2), and a camera (14) based on visual servoing is installed at the bottom end of the protection plate (7).

3. The intelligent loading and unloading robot based on visual servoing according to claim 2 is characterized in that: The robot claw (2) comprises: Mounting lugs (21); Two symmetrically arranged arc-shaped claws (22), the arc-shaped claws (22) are rotatably connected to the mounting lugs (21) via a rotating shaft; Two servo motors (23) for providing power to the rotating shaft are installed on the side of the mounting ear (21).

4. The intelligent loading and unloading robot based on visual servoing according to claim 3 is characterized in that: A vertical support plate (24) is provided between the two arc-shaped claws (22), and a plurality of auxiliary blocks (25) are connected to the side surfaces of the vertical support plate (24). The auxiliary blocks (25) are rotationally connected to the arc-shaped claws (22) via a damping shaft.

5. The intelligent loading and unloading robot based on visual servoing according to claim 4 is characterized in that: A clamping plate (26) for clamping and fixing objects is connected between the two vertical support plates (24), a plurality of counterweight blocks are connected to the bottom end of the vertical support plate (24), a plurality of insertion rods (27) are connected to the side of the clamping plate (26), and a plurality of circular channels for the insertion rods (27) to pass through are opened on the side of the vertical support plate (24).

6. The intelligent loading and unloading robot based on visual servoing according to claim 5 is characterized in that: A pressure sensor (28) is connected to the side of the clamping plate (26), and the pressure sensor (28) is connected and fixed to the vertical support plate (24) via a spring (29).

7. The intelligent loading and unloading robot based on visual servoing according to claim 1 is characterized in that: Linear motors (15) are installed on both sides of the upper hollow plate (8), and the moving parts of the two linear motors (15) are commonly connected to a C-shaped protective plate (16) for protecting the machine claw (2).

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