Visual positioning identification parallel robot grabbing device

Abstract

The utility model relates to the technical field of food packaging equipment, in particular to a visual positioning and identifying parallel robot grabbing device which comprises a visual positioning and identifying module and further comprises a first rack, a multi-shaft linkage type grabbing robot is arranged on the first rack, and a grabbing operation end is arranged at the bottom of the grabbing robot. The portion, located below the grabbing operation end, of the first rack is provided with an operation space, a conveying belt used for conveying products is arranged in the operation space, a second rack is arranged at the bottom of the conveying belt, and the visual positioning recognition module is arranged on the second rack. A feeding path of the conveying belt sequentially passes through a detection area of the visual positioning recognition module and an operation area of the grabbing operation end, and the visual positioning recognition module is electrically connected with the grabbing robot through a control system. The utility model is favorable for solving the problems that some food placing modes at present depend on a large amount of manual operation, time and labor are wasted, or the high-quality placing effect cannot be realized by a simple baffle guide structure.

Description

Technical Field

[0001] The utility model relates to the technical field of food packaging equipment, in particular to a visual positioning and recognition parallel robot grasping device. Background Art

[0002] Many foods are in regular sheet or block shapes after processing, such as dried meat slices, hawthorn slices, etc. When packaging, they need to be placed and stacked in a specific manner for regular packaging. At present, there are still many enterprises relying on manual operations in this link, that is, arranging several operators to manually sort, stack and place the foods on the conveyor belt on the food production line, which is time-consuming and laborious and has low efficiency. In addition, some enterprises configure corresponding baffle guiding structures on the conveyor belt to enable the foods to be regularly output under certain conditions. However, this method can only achieve simple linear arrangement actions and cannot meet most stacking requirements. In addition, the orientation angles of the output states of the foods are complex and diverse, which also leads to the simple baffle guiding being unable to complete the requirement of high-quality regular material placement of the foods. Content of the Utility Model

[0003] The utility model provides a visual positioning and recognition parallel robot grasping device, which is beneficial to solving the problems that some current food material placement methods rely on a large amount of manual operations, are time-consuming and laborious, or rely on simple baffle guiding structures and cannot achieve high-quality material placement effects.

[0004] The utility model is implemented as follows:

[0005] A visual positioning and recognition parallel robot device includes a visual positioning and recognition module, and further includes a first rack. A multi-axis linkage grasping robot is provided on the first rack. A grasping operation end capable of moving in multiple axes in three-dimensional space is provided at the bottom of the grasping robot. The grasping operation end is provided with a pneumatic material control part for grasping products. A working space is provided below the grasping operation end of the first rack. A conveyor belt for conveying products is provided in the working space. A second rack is arranged at the bottom of the conveyor belt. The visual positioning and recognition module is arranged on the second rack. The feeding path of the conveyor belt successively passes through the detection area of the visual positioning and recognition module and the working area of the grasping operation end. The visual positioning and recognition module and the grasping robot are electrically connected through a control system.

[0006] On the basis of the above technical solution, the first rack includes several vertically spaced columns, and a chassis is jointly erected on the tops of the columns. The fixed end of the grasping robot is installed on the chassis.

[0007] On the basis of the above technical solution, the chassis is of a box structure, and heat dissipation holes and an opening and closing panel are provided on its side surface.

[0008] On the basis of the above technical solution, a detachable connection structure is formed between the second rack and the first rack through a connection block.

[0009] On the basis of the above technical solution, adjustable feet with adjustable bearing heights are provided at the bottom of the second rack.

[0010] On the basis of the above technical solution, the vision positioning and recognition module includes a light box and a CCD vision mechanism.

[0011] On the basis of the above technical solution, a side baffle structure is provided at the feeding end of the conveyor belt.

[0012] On the basis of the above technical solution, the grasping robot includes a main board connected to the chassis. A driving motor is provided on the main board. The output end of the driving motor is hinged with a large arm. One end of the large arm away from the driving motor is hinged with a small arm. One end of the small arm away from the large arm faces downward and is connected to the grasping operation end.

[0013] On the basis of the above technical solution, the grasping operation end includes a movable frame. A steering motor is provided on the movable frame. The output end of the steering motor faces vertically downward and is connected to the pneumatic material control part.

[0014] On the basis of the above technical solution, the pneumatic material control part adopts a pneumatic suction cup or a pneumatic gripper.

[0015] Compared with the prior art, the present utility model has at least the following advantages:

[0016] In the present utility model, a grasping robot is provided on the elevated first rack. The working space formed below the first rack is used to set the conveyor belt, and a corresponding vision positioning and recognition module is configured. The overall structure is compact and ingenious, and it can meet the use in various workshop environments; the products conveyed by the conveyor belt can obtain the product posture information through the vision positioning and recognition module, and after generating corresponding instructions, the grasping robot implements the operation to complete the product placement, replacing the traditional manual operation method. The present utility model can greatly improve the packaging and placement efficiency and reduce the labor intensity of the operators; compared with some relatively simple material guiding structures in the prior art, the present utility model can greatly improve the placement quality to meet the increasingly strict food production and packaging requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the following will briefly introduce the drawings required to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present utility model, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0018] Figure 1 Schematic structural diagram of a visual positioning and recognition parallel robot device in an embodiment;

[0019] Figure 2 is Figure 1 Schematic structural diagram of the grasping robot in;

[0020] Figure 3 is Figure 2 Top view in;

[0021] Figure 4 is Figure 1 Side view of.

[0022] Annotations in the figure: 1. First frame; 11. Chassis; 2. Grasping robot; 21. Main board; 22. Driving motor; 23. Big arm; 24. Small arm; 25. Movable frame; 26. Steering motor; 27. Working frame; 28. Pneumatic suction cup; 3. Second frame; 31. Connecting block; 32. Adjustable support feet; 4. Conveyor belt; 41. Side baffle; 5. Visual positioning and recognition module; 51. Mounting hole. Specific embodiments

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are some, but not all, of the embodiments of the present utility model. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of protection of the present utility model. Therefore, the following detailed description of the embodiments of the present utility model provided in the accompanying drawings is not intended to limit the scope of the present utility model to be protected, but merely represents the selected embodiments of the present utility model.

[0024] In the description of the present utility model, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present utility model, "a plurality of" means two or more unless otherwise specifically defined.

[0025] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to an element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation.

[0026] The present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0027] Combined with Figures 1-4 , this embodiment discloses a vision positioning and recognition parallel robot device, including a first frame 1, a second frame 3, a grasping robot 2, a conveyor belt 4 and a vision positioning and recognition module 5, which is applied to the food packaging field. When the food processing is completed, it is successively output by the conveyor belt 4. Before packaging, the vision positioning and recognition module 5 obtains the pose information of the product on the conveyor belt 4 and generates corresponding instructions to the grasping robot 2. The grasping robot 2 accurately completes the product placing operation with mechanical actions.

[0028] The first frame 1 includes a number of vertically spaced columns, and a chassis 11 is jointly erected on the tops of the columns. The fixed end of the grasping robot 2 is installed on the chassis 11.

[0029] In this embodiment, the first frame 1 has 4 columns made of galvanized iron profiles. The columns are spaced from each other to form a rectangular fulcrum contour, and the bottom is connected to the ground. The tops cooperate with each other, and a chassis 11 in the form of a box structure is added horizontally. The chassis 11 is in the form of a box structure, and its side is provided with heat dissipation holes and an opening and closing panel.

[0030] A multi-axis linkage type grasping robot 2 is provided on the first frame 1. The bottom of the grasping robot 2 is provided with a grasping operation end that can move in multiple axes in three-dimensional space, and the grasping operation end is provided with a pneumatic material control part for grasping the product.

[0031] Combined with Figure 2 and Figure 3, in this embodiment, the grasping robot 2 includes a main board 21 connected to the chassis 11. After the main board 21 is connected to the chassis 11, the top of the grasping robot 2 forms a fixed end connected to the first rack 1. There are 3 driving motors 22 arranged horizontally and obliquely on the main board 21. The 3 driving motors 22 are centrosymmetric. Each driving motor 22 serves as an independent movable arm driving unit. The driving motor 22 uses a reduction motor, and its output end is hinged to a large arm 23. The large arm 23 is horizontally arranged. At one end of the large arm 23 away from the driving motor 22, there are 2 parallel small arms 24 hinged. The end of the small arm 24 away from the large arm 23 faces downward and is connected to the grasping operation end. The length of the small arm 24 is greater than the length of the large arm 23. There is a horizontally arranged tension spring between the two small arms 24. It should be noted that the inner corner at the connection between the large arm 23 and the small arm 24 is an acute angle. The driving motor 22 drives the large arm 23 to swing longitudinally. Each driving motor 22 uses differential drive to control each large arm 23 to move at different angles, thereby driving each small arm 24 to have a threshold movement and controlling the grasping operation end to move in position.

[0032] Further, the grasping operation end includes a movable frame 25. There is a steering motor 26 on the movable frame 25. The output end of the steering motor 26 faces vertically downward and is connected to an operation frame 27. A number of the pneumatic material control parts are installed on the operation frame 27. The pneumatic material control part in this embodiment uses a pneumatic suction cup 28. In other embodiments, the pneumatic material control part can also use a pneumatic gripper.

[0033] Reference Figure 1 and Figure 4 , there is an operation space below the grasping operation end of the first rack 1. There is a conveyor belt 4 for conveying products in the operation space. A second rack 3 is arranged at the bottom of the conveyor belt 4. The visual positioning and recognition module 5 is arranged on the second rack 3. The feeding path of the conveyor belt 4 successively passes through the detection area of the visual positioning and recognition module 5 and the operation area of the grasping operation end. The visual positioning and recognition module 5 and the grasping robot 2 are electrically connected through a control system.

[0034] Further, a detachable connection structure is formed between the second rack 3 and the first rack 1 through a connection block 31. The connection block 31 is an "L" - shaped structure. When installed, the connection block 31 abuts against the inner corner of the column of the second rack 3 and is locked and fixed to the cross - beam between the columns of the first rack 1 through bolts. This enables the conveyor belt 4 and the visual positioning and recognition module 5 to be accurately matched with the first rack 1 after assembly.

[0035] Further, in order to meet the packaging requirements of products with different thicknesses, adjustable feet 32 with adjustable bearing heights are provided at the bottom of the second rack 3, which enables the installation height of the second rack 3 to be finely adjusted to a certain extent. It should be noted that the connecting block 31 and the second rack 3 are connected by a hinged structure to adapt to the height change of the second rack 3 before and after fine adjustment.

[0036] The visual positioning and recognition module 5 includes a light box and a CCD vision mechanism. The light box is fixedly arranged above the second rack 3 through a bracket. Among them, the light box serves as the bearing structure of the visual positioning and recognition module 5, and a plurality of mounting holes 51 are arranged on its side wall at longitudinal intervals. The mounting holes 51 are used to cooperate with bolts to realize the installation and fixation of the light box, and the plurality of mounting holes 51 constitute a flexible longitudinal position installation selection structure, and the installation height of the light box can be appropriately adjusted according to actual needs.

[0037] In order to prevent product leakage when feeding the conveyor belt 4, combined with Figure 1 , a side baffle 41 structure is provided at the feeding end of the conveyor belt 4.

[0038] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A visual positioning and recognition parallel robot device, including a visual positioning and recognition module (5), characterized in that, It further includes a first rack (1), on which a multi-axis linkage grasping robot (2) is provided. At the bottom of the grasping robot (2), there is a grasping operation end that can move in multiple axes in three-dimensional space. The grasping operation end is provided with a pneumatic material control part for grasping products. Below the grasping operation end of the first rack (1), there is an operation space, in which a conveyor belt (4) for conveying products is provided. The bottom of the conveyor belt (4) is provided with a second rack (3). The visual positioning and recognition module (5) is arranged on the second rack (3). The feeding path of the conveyor belt (4) successively passes through the detection area of the visual positioning and recognition module (5) and the operation area of the grasping operation end. The visual positioning and recognition module (5) and the grasping robot (2) are electrically connected through a control system.

2. The vision positioning and recognition parallel robot device according to claim 1, characterized in that, The first rack (1) includes several vertically spaced columns, and a chassis (11) is jointly erected on the tops of the columns. The fixed end of the grasping robot (2) is installed on the chassis (11).

3. The vision positioning and recognition parallel robot device according to claim 2, wherein The chassis (11) is of a box structure, and its side is provided with heat dissipation holes and an opening and closing panel.

4. The vision positioning and recognition parallel robot device according to claim 1, characterized in that, A detachable connection structure is formed between the second rack (3) and the first rack (1) through a connecting block (31).

5. A vision positioning and recognition parallel robot device according to claim 4, characterized in that, Adjustable feet (32) with adjustable load-bearing height are provided at the bottom of the second rack (3).

6. The vision positioning and recognition parallel robot device according to claim 1, characterized in that, The visual positioning and recognition module (5) includes a light box and a CCD vision mechanism.

7. A vision positioning and recognition parallel robot device according to claim 1, characterized in that, A side baffle (41) structure is provided at the feeding end of the conveyor belt (4).

8. The vision positioning and recognition parallel robot device according to claim 2, wherein, The grasping robot (2) includes a main board (21) connected to the chassis (11). A driving motor (22) is provided on the main board (21). The output end of the driving motor (22) is hinged with a large arm (23). One end of the large arm (23) away from the driving motor (22) is hinged with a small arm (24). One end of the small arm (24) away from the large arm (23) faces downward and is connected to the grasping operation end.

9. The vision positioning and recognition parallel robot device according to claim 8, characterized in that, The grasping operation end includes a movable frame (25). A steering motor (26) is provided on the movable frame (25). The output end of the steering motor (26) faces vertically downward and is connected to the pneumatic material control part.

10. The vision positioning and recognition parallel robot device according to claim 9, characterized in that, The pneumatic material control part adopts a pneumatic suction cup (28) or a pneumatic gripper.

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