Intelligent steel grabbing machine equipment based on vision

Abstract

The utility model relates to steel grabbing machine equipment, in particular to vision-based intelligent steel grabbing machine equipment, which comprises a shell, a first steel grabbing device and a second steel grabbing device, a mounting groove is formed in the shell; the first steel grabbing device is arranged in the mounting groove and comprises a first adjusting structure, a second adjusting structure, an electromagnet assembly and a visual camera, the first adjusting structure is slidably connected with the shell and fixedly connected with the electromagnet assembly, and the second adjusting structure is slidably connected with the shell and fixedly connected with the electromagnet assembly. The second adjusting structure is movably connected with the electromagnet assembly; the second steel grabbing device and the first steel grabbing device are the same in structure and are arranged side by side in the mounting groove in the length direction of the mounting groove. The visual camera is fixedly connected with the side of the electromagnet assembly. The technical problem that two steel grabbing machine devices of existing steel grabbing machine equipment cannot be adjusted in different directions is solved.

Description

Technical Field

[0001] The utility model relates to a steel grabber device, in particular to an intelligent steel grabber device based on vision. Background Art

[0002] In the processes of steel loading and unloading, stacking and sorting, steel grabber devices are needed to transport steel. Generally, electromagnets or vacuum suction cups are used to hold the steel, and then the transportation is completed. However, the sizes and weights of steel are not uniform. In the prior art, when transporting steel with a small size and a light weight, a steel grabber device is used to adsorb the middle area of the steel; when transporting steel with a small size and a large weight, two steel grabber devices are used to adsorb the two ends of the steel.

[0003] However, the two steel grabber devices in the existing steel grabber device can only be adjusted in the same direction and cannot adjust the distance between the two steel grabber devices, which results in the steel grabber device being unable to grasp the best position of the steel. Summary of the Utility Model

[0004] The main purpose of the utility model is to provide an intelligent steel grabber device based on vision, which solves the technical problem that the two steel grabber devices of the existing steel grabber device cannot be adjusted in opposite directions, affecting the grabbing effect.

[0005] To achieve the above object, the utility model provides an intelligent steel grabber device based on vision, including a housing, a first steel grabber device and a second steel grabber device;

[0006] The housing is provided with an installation groove;

[0007] The first steel grabber device is arranged in the installation groove. The first steel grabber device includes a first adjustment structure, a second adjustment structure, an electromagnet assembly and a vision camera. The first adjustment structure is slidably connected with the housing, the first adjustment structure is fixedly connected with the electromagnet assembly, the first adjustment structure drives the electromagnet assembly to move along the length direction of the installation groove, the second adjustment structure is slidably connected with the housing, the second adjustment structure is movably connected with the electromagnet assembly, and the second adjustment structure drives the electromagnet assembly to move along the width direction of the installation groove;

[0008] The second steel grabber device has the same structure as the first steel grabber device, and the second steel grabber device and the first steel grabber device are arranged side by side along the length direction of the installation groove in the installation groove;

[0009] The vision camera is fixedly connected to the side of the electromagnet assembly.

[0010] Preferably, a vertical plate is fixedly arranged inside the housing, and the vertical plate is provided with a first slideway extending along the width direction of the installation groove.

[0011] Preferably, the first adjustment structure includes a third slider and an electric push rod;

[0012] The third slider is slidably connected to the first slideway, the third slider is fixedly connected to the fixed end of the electric push rod, and the movable end of the electric push rod is fixedly connected to the electromagnet assembly.

[0013] Preferably, second slideways are respectively provided on two opposite side walls of the housing, and the second slideways extend along the length direction of the installation groove.

[0014] Preferably, the second adjustment structure includes a first slider, a motor, a lead screw, a limiting rod and a second slider;

[0015] The first slider and the second slider are respectively slidably connected to different second slideways;

[0016] The motor is fixedly connected to the first slider, the output end of the motor is drivingly connected to one end of the lead screw, and the other end of the lead screw is rotatably connected to the second slider;

[0017] Both ends of the limiting rod are respectively connected to the first slider and the second slider.

[0018] Preferably, the electromagnet assembly includes a fourth slider and an electromagnet;

[0019] The fourth slider is threadedly connected to the lead screw, a through hole is provided in the fourth slider, a limiting rod is inserted into the through hole, the fourth slider is fixedly connected to the movable end of the electric push rod, and an electromagnet is fixedly connected to the bottom of the fourth slider.

[0020] Preferably, the first steel grabbing device and the second steel grabbing device are arranged in mirror symmetry in the installation groove.

[0021] The beneficial effects achieved by the present utility model are as follows:

[0022] The first adjustment structure in the present utility model can adjust the position of the electromagnet assembly along the length direction of the installation groove, and the second adjustment structure can adjust the position of the electromagnet assembly along the width direction of the installation groove; in the same way, the position of the electromagnet assembly in the second steel grabbing device can also be adjusted. Since these two electromagnet assemblies are not adjusted by the same first adjustment structure and second adjustment structure, the first steel grabbing device and the second steel grabbing device can achieve asynchronous and different-direction adjustment. Therefore, the first steel grabbing device and the second steel grabbing device can respectively grab different steel materials; the first steel grabbing device and the second steel grabbing device can also be used in cooperation to grab the same steel material.

[0023] By arranging a vision camera, the position of the steel material can be recognized, and the grabbing accuracy of the first steel grabbing device and the second steel grabbing device can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The following further describes the present utility model in detail with reference to the drawings and specific embodiments.

[0025] Figure 1It is a schematic diagram of a vision-based intelligent steel grabber device disclosed in the specific embodiment of the present utility model;

[0026] Figure 2 It is another schematic diagram of a vision-based intelligent steel grabber device disclosed in the specific embodiment of the present utility model;

[0027] Figure 3 It is yet another schematic diagram of a vision-based intelligent steel grabber device disclosed in the specific embodiment of the present utility model.

[0028] Explanation of reference numerals:

[0029] 1. Housing; 11. Installation groove; 12. Vertical plate; 121. First slideway; 13. Second slideway; 2. First steel grabbing device; 21. First adjustment structure; 211. Third slider; 212. Electric push rod; 22. Second adjustment structure; 221. First slider; 222. Motor; 223. Lead screw; 224. Limit rod; 225. Second slider; 23. Electromagnet assembly; 231. Fourth slider; 232. Electromagnet; 24. Vision camera; 3. Second steel grabbing device. Specific embodiment

[0030] Next, in combination with the drawings in the embodiments of the present utility model, the technical solutions in the embodiments of the present utility model will be clearly and completely described. Many specific details are set forth in the following description in order to fully understand the present utility model, but the present utility model can also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the connotation of the present utility model. Therefore, the present utility model is not limited by the specific embodiments disclosed below.

[0031] As Figures 1 - 3 shown, the present utility model discloses a vision-based intelligent steel grabber device, including a housing 1, a first steel grabbing device 2, and a second steel grabbing device 3. A connecting flange is provided at the top of the housing 1, and the connecting flange is used to connect with an external lifting arm or a device with the same function. An installation groove 11 is opened at the bottom of the housing 1. The housing 1 has a U-shaped plate structure. A vertical plate 12 is fixedly provided in the installation groove 11. The vertical plate 12 divides the installation groove 11 into two areas. One area is used to install the first steel grabbing device 2, and the other area is used to install the second steel grabbing device 3. First slideways 121 are opened on both surfaces of the vertical plate 12. The first slideways 121 extend along the width direction of the installation groove 11. These two first slideways 121 are respectively used for sliding connection with the first steel grabbing device 2 and the second steel grabbing device 3.

[0032] Please refer to Figure 2 、 Figure 3, the first steel grabbing device 2 includes a first adjusting structure 21, a second adjusting structure 22, an electromagnet assembly 23, and a vision camera 24. The first adjusting structure 21 can adjust the position of the electromagnet assembly 23 along the length direction of the installation groove 11 (i.e., the X direction). As an implementation manner, the first adjusting structure 21 includes a third slider 211 and an electric push rod 212. The third slider 211 is slidably disposed in the first slideway 121. The third slider 211 is fixedly connected to the fixed end of the electric push rod 212. The electric push rod 212 extends along the X direction. The movable end of the electric push rod 212 is fixedly connected to the electromagnet assembly 23.

[0033] The second adjusting structure 22 can adjust the electromagnet assembly 23 along the width direction of the installation groove 11 (i.e., the Y direction). As an implementation manner, each of the two opposite side walls of the housing 1 is provided with a second slideway 13. The heights of the two second slideways 13 are the same. The second slideway 13 extends along the length direction of the installation groove 11. The second adjusting structure 22 includes a first slider 221, a motor 222, a lead screw 223, a limiting rod 224, and a second slider 225. Figure 2 Taking... as an example, the first slider 221 is slidably disposed in the second slideway 13 on the left side. The first slider 221 is fixedly connected to the motor 222. The output end of the motor 222 is drivingly connected to one end of the lead screw 223, that is, the motor 222 can drive the lead screw 223 to rotate. The other end of the lead screw 223 is rotatably connected to the second slider 225. The second slider 225 is slidably disposed in the second slideway 13 on the right side. The two ends of the limiting rod 224 are respectively fixedly connected to the first slider 221 and the second slider 225.

[0034] The electromagnet assembly 23 includes a fourth slider 231 and an electromagnet 232. The fourth slider 231 is threadedly connected to the lead screw 223. The limiting rod 224 passes through the fourth slider 231 to prevent the fourth slider 231 from rotating along with the lead screw 223. The side of the fourth slider 231 is fixedly connected to the movable end of the electric push rod 212. An electromagnet 232 is fixedly connected to the bottom of the fourth slider 231. A vision camera 24 is fixedly connected to the side of the electromagnet 232. The lowermost end of the vision camera 24 is higher than the lowermost end of the electromagnet 232. The vision camera 24 can automatically identify the position of the steel, facilitating the adjustment of the position of the electromagnet assembly 23 by the first adjusting structure 21 and the second adjusting structure 22.

[0035] The structure of the second steel grabbing device 3 is the same as that of the first steel grabbing device 2, and the installation method is also the same, which will not be elaborated here. Figure 2 、 Figure 3 As shown in... the first steel grabbing device 2 and the second steel grabbing device 3 are arranged in mirror symmetry in the installation groove 11. At this time, the vertical plate 12 is the mirror surface.

[0036] During use, the electric push rod 212 is started, and the electric push rod 212 adjusts the position of the electromagnet assembly 23 in the X direction. The motor 222 is started, and the motor 222 drives the lead screw 223 to rotate, thereby adjusting the position of the fourth slider 231 on the lead screw 223 and further adjusting the position of the electromagnet assembly 23 in the Y direction. When the electromagnet 232 is located above the steel, the adjustment is stopped. The electromagnet 232 is energized to grab the steel, and the steel is moved to the target position by the lifting arm and then the steel is released.

[0037] Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

Claims

1. A vision-based intelligent steel grabber device, characterized in that: It comprises a housing (1), a first steel grasping device (2) and a second steel grasping device (3); The housing (1) is provided with a mounting groove (11); The first steel grasping device (2) is arranged in the installation groove (11), and the first steel grasping device (2) comprises a first adjustment structure (21), a second adjustment structure (22), an electromagnet assembly (23) and a visual camera (24), the first adjustment structure (21) is slidably connected to the housing (1), the first adjustment structure (21) is fixedly connected to the electromagnet assembly (23), the first adjustment structure (21) drives the electromagnet assembly (23) to move along the length direction of the installation groove (11), the second adjustment structure (22) is slidably connected to the housing (1), the second adjustment structure (22) is movably connected to the electromagnet assembly (23), and the second adjustment structure (22) drives the electromagnet assembly (23) to move along the width direction of the installation groove (11); The second steel grasping device (3) has the same structure as the first steel grasping device (2), and the second steel grasping device (3) and the first steel grasping device (2) are arranged side by side in the installation groove (11) along the length direction of the installation groove (11); The visual camera (24) is fixedly connected to the side of the electromagnet assembly (23).

2. The vision-based intelligent steel grabber device according to claim 1, characterized in that: A vertical plate (12) is fixedly arranged inside the shell (1), and the vertical plate (12) is provided with a first slideway (121), and the first slideway (121) extends along the width direction of the installation groove (11).

3. The vision-based intelligent steel grabber device according to claim 2, characterized in that: The first adjustment structure (21) comprises a third sliding block (211) and an electric push rod (212); The third slide block (211) is slidably connected to the first slideway (121), the third slide block (211) is fixedly connected to the fixed end of the electric push rod (212), and the movable end of the electric push rod (212) is fixedly connected to the electromagnet assembly (23).

4. The vision-based intelligent steel grabber device according to claim 3, characterized in that: Two opposite side walls of the housing (1) are respectively provided with a second slideway (13), and the second slideway (13) extends along the length direction of the mounting groove (11).

5. The vision-based intelligent steel grabber device according to claim 4, characterized in that: The second adjustment structure (22) comprises a first slider (221), a motor (222), a screw rod (223), a limit rod (224) and a second slider (225); The first sliding block (221) and the second sliding block (225) are respectively slidably connected to different second slideways (13); The motor (222) is fixedly connected to the first slider (221), the output end of the motor (222) is transmission-connected to one end of the screw rod (223), and the other end of the screw rod (223) is rotationally connected to the second slider (225); Both ends of the limiting rod (224) are respectively connected to the first sliding block (221) and the second sliding block (225).

6. The vision-based intelligent steel grabber device according to claim 5, characterized in that: The electromagnet assembly (23) comprises a fourth slider (231) and an electromagnet (232); The fourth slider (231) is threadedly connected to the screw rod (223); the fourth slider (231) is provided with a through hole, the limit rod (224) is inserted into the through hole; the fourth slider (231) is fixedly connected to the movable end of the electric push rod (212); and the bottom of the fourth slider (231) is fixedly connected to an electromagnet (232).

7. A vision-based intelligent steel grabber device according to any one of claims 1 to 6, characterized in that: The first steel grasping device (2) and the second steel grasping device (3) are arranged in a mirror-symmetrical manner in the installation groove (11).

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