Resettable article operation table
By designing a repositionable worktable, and utilizing the collaborative work of a robotic arm and a repositioning device, the problem of low automation in traditional worktables is solved, achieving automated and efficient repositioning of items and reducing labor costs.
Patent Information
- Application Number
- CN202422770675.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-13
- Publication Date
- 2025-11-25
- Estimated Expiration
- 2034-11-13
AI Technical Summary
Traditional workbench item resetting relies on manual labor, resulting in low automation, high labor costs, and low resetting efficiency.
A repositionable object handling table was designed, which includes a robotic arm and a repositioning device. The robotic arm grabs the object and places it in the target area under the action of the drive mechanism, and the repositioning device automatically resets the object to the original area. Efficient repositioning is achieved by moving multiple drive mechanisms and repositioning components in different directions.
It achieves automated item reset, reduces labor costs, improves reset efficiency, the robotic arm returns to the initial position to avoid interference, and the reset device moves efficiently in two directions to ensure that the item returns to the original area.
Smart Images
Figure CN223589337U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present disclosure belongs to the technical field of intelligent control table, and particularly relates to a resettable article operation table. BACKGROUND
[0002] With the continuous development of intelligent control technology, image information obtained by combining image acquisition elements in various fields is combined with mechanical arm control to perform a series of tasks, so as to reduce manual input and achieve the purpose of full automation control.
[0003] For example, the traditional operation table is to place articles on the table top, and the movement of the articles on the table top mainly relies on manual naked eye judgment and manual adjustment of the position of the articles on the table top, which has the problems of low automation degree and high labor cost. CONTENT OF THE INVENTION
[0004] The present disclosure provides a resettable article operation table to solve the problems in the prior art.
[0005] The resettable article operation table of the present disclosure comprises:
[0006] a table body, wherein an original area and a target area are arranged on the table top of the table body;
[0007] a mechanical arm, wherein the mechanical arm is movably arranged on one side of the table body, and is configured to move from an initial position to a first preset position under the driving action of a first driving mechanism, to grasp a target article in the original area, and to move to a second preset position to place the target article in the target area, and then to return to the initial position;
[0008] a reset device, wherein the reset device is arranged on the table body, and is configured to reset the target article in the target area to the original area and return to the initial position.
[0009] In an embodiment of the present disclosure, the reset device comprises:
[0010] a movable reset member, wherein the movable reset member has a first pushing surface, a second pushing surface and a third pushing surface, and the second pushing surface and the third pushing surface are arranged at an angle with the first pushing surface to form a space for accommodating the target article;
[0011] a second driving mechanism, wherein the second driving mechanism is arranged on the table body, and is configured to push the movable reset member to move the target article from the target area to the original area in a first direction;
[0012] A third driving mechanism is arranged on the table body and configured to drive the movable reset member to push the target object to move towards the original area along a second direction, the first direction and the second direction being perpendicular to each other.
[0013] In one embodiment of the present disclosure, the second pushing surface and the third pushing surface are parallel to each other and are arranged at right angles to the first pushing surface, and the first direction is perpendicular to the first pushing surface.
[0014] In one embodiment of the present disclosure, the first driving mechanism is arranged on one side of the table body and comprises:
[0015] A first motor;
[0016] A first linear guide rail, a first sliding rail of the first linear guide rail being fixedly arranged relative to the table body and extending along the first direction, and the mechanical arm being fixedly arranged on a first sliding block of the first linear guide rail;
[0017] A first transmission assembly connecting the first sliding block of the first linear guide rail and the first motor and configured to convert the rotary motion of the first motor into the linear motion of the first sliding block along the first sliding rail.
[0018] In one embodiment of the present disclosure, the resettable object operation table further comprises a first support frame configured to arrange the first sliding rail so that the first sliding block is at the same height as the tabletop of the table body.
[0019] In one embodiment of the present disclosure, the second driving mechanism is arranged outside the edge of the table body and comprises:
[0020] A second motor;
[0021] A second linear guide rail, a second sliding rail of the second linear guide rail being fixedly arranged relative to the table body and extending along the first direction, and a second sliding block of the second linear guide rail driving the movable reset member to move;
[0022] A second transmission assembly connecting the second sliding block of the second linear guide rail and the second motor and configured to convert the rotary motion of the second motor into the linear motion of the second sliding block along the second sliding rail.
[0023] In one embodiment of the present disclosure, the second driving mechanism comprises two second linear guide rails arranged in parallel to each other and two second transmission assemblies arranged correspondingly, and the second motor is in transmission connection with the two second transmission assemblies through an intermediate transmission shaft.
[0024] In one embodiment of the present disclosure, the resettable article operation table further comprises a second support frame configured to dispose the second slide rail such that the second slide rail is at the same height as the tabletop of the table body.
[0025] In one embodiment of the present disclosure, the third driving mechanism is disposed above the second driving mechanism and comprises:
[0026] a third motor;
[0027] a third linear guide rail, an end of a third slide rail of the third linear guide rail is fixedly disposed relative to the second slide block and extends along the second direction, a third slide block is disposed on the third linear guide rail, and the movable reset member is fixed to the third slide block;
[0028] a third transmission assembly connecting the third slide block of the third linear guide rail and the third motor and configured to convert the rotational movement of the third motor into the linear movement of the third slide block along the third slide rail.
[0029] In one embodiment of the present disclosure, the reset device further comprises a fixed baffle fixedly disposed at the edge of the original area away from the target area and configured to limit the maximum distance of the movable reset member pushing the target article to move in the first direction from the target area to the original area.
[0030] In one embodiment of the present disclosure, the resettable article operation table further comprises:
[0031] a first image recognition element configured to move synchronously with the robot arm and acquire image information of the target article;
[0032] a display module communicatively connected with the first image recognition element and configured to display the image information of the target article;
[0033] a control module communicatively connected with the robot arm, the first driving mechanism, and the reset device and configured to control the robot arm, the first driving mechanism, and the reset device to perform corresponding actions based on a control instruction.
[0034] In one embodiment of the present disclosure, the resettable article operation table further comprises:
[0035] a second image recognition element fixedly disposed relative to the table body and configured to provide image information of the tabletop;
[0036] A display module is in communication connection with the second image recognition element and is configured to display the image information of the desktop.
[0037] A control module is in communication connection with the mechanical arm, the first driving mechanism and the resetting device, and controls the mechanical arm, the first driving mechanism and the resetting device to perform corresponding actions based on a control instruction.
[0038] In one embodiment of the present disclosure, the desktop of the table body is a square desktop, one of the two intersecting edges of the square desktop extends in a first direction, and the other extends in a second direction.
[0039] One of the beneficial effects of the resettable object operation table of the present disclosure is that the resettable object operation table of the present disclosure is mainly used to complete the task of resetting the target object after placing it. In detail, before the task starts, a plurality of target objects are placed in the original area, and the mechanical arm and the resetting device are both located at their initial positions. After the task starts, the user obtains the image information of the target object and the desktop through the first image recognition element and the second image recognition element, and then controls the mechanical arm to reach the first preset position through the first driving mechanism to grab the target object in the original area. Then the mechanical arm is driven to the second preset position to place the target object in the target area. When the user has placed all the target objects to be grabbed in the target area, the resetting operation starts. The mechanical arm returns to the initial position to prevent interference with the resetting device, and then the second driving mechanism drives the third driving mechanism and the movable resetting member to push the target object to move from the target area to the original area along the first direction. After reaching the original area point, the movable resetting member moves along the second direction through the third driving mechanism to push the target object to ensure that it returns to the original area. After the object is reset, the resetting device returns to the starting position, and the mechanical arm returns to the initial unoperated state to realize homing.
[0040] As can be seen, when resetting the object, the resettable object operation table of the present disclosure moves the mechanical arm to the initial position to avoid interference with the resetting device. On the other hand, by moving in two directions through the second driving mechanism and the third driving mechanism, the target object can be efficiently and automatically reset to the original area.
[0041] The resettable object operation table of the present disclosure can be used in teaching and training, events and entertainment places. By operating the mechanical arm to take and place the target object, the user's hands-on operation ability can be exercised, and the user's interest in science and technology can be cultivated. Compared with the manually reset target object grabbed by the present art, the resettable object operation table of the present disclosure resets the target object by setting the resetting device, thereby saving the labor cost, improving the degree of automation and the efficiency of resetting. BRIEF DESCRIPTION OF DRAWINGS
[0042] Figure 1is a structural schematic diagram of one embodiment of the resettable article operation table of the present disclosure;
[0043] Figure 2 is a three-dimensional structural schematic diagram of one embodiment of the resettable article operation table of the present disclosure;
[0044] Figure 3 is a top view structural schematic diagram of one embodiment of the resettable article operation table of the present disclosure;
[0045] Figure 4 is a front view structural schematic diagram of one embodiment of the resettable article operation table of the present disclosure;
[0046] Figure 5 is a right view structural schematic diagram of one embodiment of the resettable article operation table of the present disclosure;
[0047] Figure 6 is a hardware structural schematic diagram of one embodiment of the resettable article operation table of the present disclosure.
[0048] Figures 1 to 6 The correspondence between the names of the components and the reference numerals in the drawings is as follows:
[0049] 1 table body, 11 table top, 12 original area, 13 target area, 14 target article;
[0050] 21 mechanical arm, 221 first linear guide rail, 2211 first sliding block, 2212 first sliding rail, 222 first motor;
[0051] 31 movable resettable member, 311 first pushing surface, 312 second pushing surface, 313 third pushing surface, 321 second linear guide rail, 3211 second sliding block, 3212 second sliding rail, 322 second motor, 323 intermediate transmission shaft, 331 third linear guide rail, 3311 third sliding block, 3312 third sliding rail, 332 third motor, 34 fixed baffle;
[0052] 41 first support frame, 42 second support frame;
[0053] 51 first image recognition element, 52 second image recognition element. DETAILED DESCRIPTION
[0054] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. Note that the relative arrangement, numerical expressions, and numerical values of the components and steps set forth in these embodiments are not limiting to the scope of the present disclosure unless otherwise specifically stated.
[0055] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way limiting to the scope of the present disclosure and its applications or uses.
[0056] Techniques, methods, and apparatus known to those of ordinary skill in the relevant art can not be discussed in detail herein, but should be considered part of the specification.
[0057] It should be noted that similar reference numerals and letters refer to similar items throughout the accompanying drawings, and therefore, once an item is defined in one drawing, it is not necessary to discuss it further in subsequent drawings.
[0058] In this document, "first", "second", etc. are used only to distinguish one item from another, and do not indicate importance and order, and the premise of each other.
[0059] It should be noted that when describing the structure of the resettable article operation table and its working principle, the orientation words used herein refer to Figure 1 The double-dot line direction is the first direction, the dot line direction is the second direction, the first driving mechanism drives the mechanical arm to reciprocate along the first direction, the second driving mechanism drives the movable reset member to reciprocate along the first direction, and the third driving mechanism drives the movable reset member to reciprocate along the second direction.
[0060] The existing operation table article reset is reset by traditional manual, the labor cost is high, and the time is long, and there is a problem of low automation degree and low reset efficiency.
[0061] Therefore, the present disclosure provides a resettable article operation table, which comprises a table body, a mechanical arm and a reset device. Wherein, the mechanical arm is fixedly arranged on one side of the table body, and the reset device is fixedly arranged on the table body.
[0062] In detail, the table top of the table body is provided with an original area and a target area; the mechanical arm is movably arranged on one side of the table body, and is configured to move from an initial position to a first preset position under the driving action of the first driving mechanism, grab a target article in the original area, and move to a second preset position to place the target article in the target area, and then return to the initial position; the reset device is arranged on the table body, and is configured to reset the target article in the target area to the original area, and return to the starting position.
[0063] The resettable article operation table of the present disclosure is mainly used to complete the task of resetting the target articles after placing them. In detail, before the task starts, a plurality of target articles are placed in the original area, and the mechanical arm and the resetting device are both located at their initial positions. After the task starts, the user operates the mechanical arm to reach the first preset position, grabs the target articles in the original area, and then moves the mechanical arm to the second preset position to place the target articles in the target area. When the user places all the target articles to be grabbed in the target area, the resetting operation starts. The mechanical arm returns to the initial position to prevent interference with the resetting device, and then the resetting device pushes the target articles from the target area to the original area. After the resetting is completed, the resetting device returns to the starting position to realize homing.
[0064] Obviously, the resetting device of the resettable article operation table of the present disclosure can automatically complete the resetting task, saves the labor cost, has high automation degree, and improves the resetting efficiency.
[0065] For the convenience of understanding, the specific structure and working principle of the resettable article operation table provided by the present disclosure will be described in detail below with reference to Figures 1 to 6
[0066] The resettable article operation table of the present disclosure comprises a table body 1, a mechanical arm 21 and a resetting device. The table top 11 of the table body 1 is provided with an original area 12 and a target area 13. The mechanical arm 21 is movably arranged on one side of the table body 1 and is configured to move from the initial position to the first preset position under the driving action of the first driving mechanism, grab the target articles 14 in the original area 12, and then move to the second preset position to place the target articles 14 in the target area 13 and return to the initial position. The resetting device is arranged on the table body 1 and is configured to reset the target articles 14 in the target area 13 to the original area 12 and return to the starting position.
[0067] After the resettable article operation table of the present disclosure is started, the user operates the mechanical arm 21 to move from the initial position to the first preset position under the action of the first driving mechanism, then grabs the target articles 14 in the original area 12, moves to the second preset position to place the target articles 14 in the target area 13, and after the picking and placing operation is completed, starts the resetting operation. The mechanical arm 21 returns to the initial position, and the resetting device moves to reset the target articles 14 in the target area 13 to the original area 12 and then returns to the starting position.
[0068] The specific positions of the first preset position and the second preset position depend on the actual scene, which is not limited in the present disclosure. The skilled in the art can set them according to the actual application scene to make the mechanical arm be able to grab the target articles.
[0069] Obviously, compared with the prior art, when the resettable article operation table of the present disclosure is used, the reset task is completed by the reset device, the degree of automation is high, the efficiency of resetting is improved, and the labor cost is saved. On the other hand, the mechanical arm 21 is moved to the initial position before resetting, avoiding interference of the mechanical arm 21 with the reset device.
[0070] As shown in Figure 2 and Figure 3 In one embodiment of the present disclosure, the reset device includes a movable reset member 31, a second driving mechanism and a third driving mechanism. The movable reset member 31 has a first pushing surface 311, a second pushing surface 312 and a third pushing surface 313, the second pushing surface 312 and the third pushing surface 313 are both arranged at an angle with the first pushing surface 311 to form a space for accommodating the target article 14; the second driving mechanism is arranged on the table body 1 and is configured to push the movable reset member 31 to move the target article 14 from the target area 13 to the original area 12 in a first direction; the third driving mechanism is arranged on the table body 1 and is configured to push the movable reset member 31 to move the target article 14 to the original area 12 in a second direction, the first direction and the second direction are perpendicular to each other.
[0071] In this way, the movable reset member 31 is provided with three pushing surfaces to form a space with an opening, thereby accommodating the target article 14, and ensuring that the movable reset member 31 will not miss the target article 14 when pushing the target article 14, or the target article 14 will not leave the pushing range of the movable reset member 31 during movement. In addition, the space formed by the three pushing surfaces is larger than the space range of the target area 13, so that the movable reset member 31 can push the target article 14 in the target area 13 at one time. At the same time, the movable reset member 31 can be integrally formed by a piece of material to form the three required pushing surfaces, or three plates can be used as the three pushing surfaces and fixedly combined.
[0072] Further, by arranging the second driving mechanism and the third driving mechanism, the movable reset member 31 is pushed to move in the first direction and the second direction respectively, so that the pushed target article 14 can be completely returned from the target area 13 to the original area 12 without being left outside the original area 12. At the same time, the first direction and the second direction are perpendicular to each other, which ensures that the movement route of the movable reset member 31 pushed by the second driving mechanism and the third driving mechanism is the shortest, and the efficiency of resetting is the highest.
[0073] As shown in Figure 1 and Figure 3 In one embodiment of the present disclosure, the second pushing surface 312 and the third pushing surface 313 are parallel to each other and are arranged at a right angle with the first pushing surface 311, and the first direction is perpendicular to the first pushing surface 311.
[0074] In this way, the space formed by the second pushing surface 312, the third pushing surface 313 and the first pushing surface 311 has a proper opening angle, a regular shape and a large capacity. In detail, when the movable reset member 31 pushes the target object 14, the opening angle between the second pushing surface 312 and the third pushing surface 313 during the movement in the first direction is not too small, so that the target object 14 at the edge or corner of the target area 13 cannot enter the containing range of the movable reset member 31 through the opening; and the opening angle between the second pushing surface 312 and the third pushing surface 313 during the movement of the movable reset member 31 in the second direction is not too large, so that the target object 14 pushed by the movable reset member 31 slides out of the pushing range along the second pushing surface 312 or the third pushing surface 313. At the same time, the first direction is perpendicular to the first pushing surface 311, so that the movable reset member 31 is opposite to the target area 13, and all the target objects 14 in the target area 13 can enter the pushing range of the movable reset member 31 without omission.
[0075] As shown in Figures 1 to 3 In one embodiment of the present disclosure, the tabletop 11 of the table body 1 is a square tabletop 11, one of the two intersecting edges of the square tabletop 11 extends in the first direction, and the other extends in the second direction.
[0076] In detail, the tabletop 11 of the present disclosure is rectangular, the lower part of the rectangular tabletop 11 is provided with four table legs, the bottom of each table leg is a conical supporting foot, a supporting plate is connected between the four table legs, and the two intersecting edges of the rectangular tabletop 11 extend in the first direction and the second direction respectively. In this way, the entire table body 1 is stable and has strong support, and the first driving mechanism, the second driving mechanism and the third driving mechanism can be fixedly arranged according to the shape of the table body 1, so that the mechanical arm 21 and the reset device on the resettable object operation table run stably and efficiently.
[0077] As shown in Figure 2 and Figure 3 In one embodiment of the present disclosure, the first driving mechanism is arranged on one side of the table body 1 and includes a first motor 222, a first linear guide rail 221 and a first transmission assembly. The first slide rail 2212 of the first linear guide rail 221 is fixedly arranged relative to the table body 1 and extends in the first direction, and the mechanical arm 21 is fixedly arranged on the first sliding block 2211 of the first linear guide rail 221. The first transmission assembly is connected between the first sliding block 2211 and the first motor 222 and is configured to convert the rotary motion of the first motor 222 into the linear motion of the first sliding block 2211 along the first slide rail 2212.
[0078] The first driving mechanism of the present disclosure is fixedly arranged on one side of the longer edge of the rectangular tabletop 11 through the first supporting frame 41.
[0079] In detail, in one embodiment, the first transmission assembly of the present disclosure is a ball screw nut transmission mechanism, a ball screw of which extends in a rotatable manner in a first direction and is fixed relative to the table body 1, one end of which is connected to the first motor 222 through a shaft coupling, and the first motor 222 is arranged at the end close to the initial position of the mechanical arm 21 on the first linear guide rail 221. A first sliding block 2211 is arranged on the first sliding rail 2212 of the first linear guide rail 221, and the first sliding block 2211 is fixedly connected with the nut block of the ball screw. The mechanical arm 21 is fixed on the first sliding block 2211.
[0080] In more detail, the first motor 222 drives the ball screw to rotate through the shaft coupling, the ball screw nut transmission mechanism converts the rotary motion of the first motor 222 into the linear motion of the nut block on the ball screw, and further drives the first sliding block 2211 to move along the first sliding rail 2212, so as to move the mechanical arm 21 on the first sliding block 2211. The user can control the mechanical arm 21 to move along the first sliding rail 2212 and stop at a predetermined position, and then take and place the target object 14. At the same time, the first sliding rail 2212 guides and limits the movement route of the displacement of the mechanical arm 21, so that the movement process of the mechanical arm 21 is more stable and accurate.
[0081] According to one embodiment of the present disclosure, the first transmission assembly of the present disclosure can also be a synchronous belt transmission mechanism, a driving wheel of which is fixed relative to the table body 1 in a rotatable manner, connected to the first motor 222 through a shaft coupling, and a driven wheel is fixed at one end away from the driving wheel along the first sliding rail in a rotatable manner. The synchronous belt is tensioned and connected between the driving wheel and the driven wheel. The first motor 222 is arranged at the end close to the initial position of the mechanical arm 21 on the first linear guide rail 221. A first sliding block 2211 is arranged on the first sliding rail 2212 of the first linear guide rail 221, and the first sliding block 2211 is fixedly connected with the synchronous belt. The mechanical arm 21 is fixed on the first sliding block 2211.
[0082] In more detail, the first motor 222 drives the driving wheel to rotate, the synchronous belt transmission mechanism converts the rotary motion of the first motor 222 into the linear motion of the synchronous belt, thereby driving the first sliding block 2211 to move along the first sliding rail 2212 and driving the mechanical arm 21 on the first sliding block 2211 to move. The user can control the mechanical arm 21 to move along the first sliding rail 2212 and stop at a predetermined position, and then take and place the target object 14. At the same time, the first sliding rail 2212 guides and limits the displacement of the mechanical arm 21, so that the movement process of the mechanical arm 21 is more stable and accurate.
[0083] Further, the first driving mechanism of the present disclosure comprises a position signal element. According to an embodiment of the present disclosure, the position signal element arranged on the first linear guide rail 221 is an optical sensor. The first slide rail 2212 is provided with two optical sensors close to the motor end and one optical sensor away from the motor end. The two optical sensors at the two ends of the first slide rail 2212 can limit the first sliding block 2211, so that the first sliding block 2211 will not slip off the first slide rail 2212 when moving in the first direction, and the second optical sensor close to the motor end is the zero position of the first sliding block 2211 and the initial position of the mechanical arm 21.
[0084] In addition, in an embodiment of the present disclosure, the mechanical arm 21 is a seven-axis mechanical arm. The seven-axis mechanical arm facilitates the end gripper to reach a specific position, can more flexibly adapt to various working environments, can only change the posture of the free end without changing the position of the free end gripper, so that the accuracy of picking the target object 14 is higher when working.
[0085] As shown in Figure 2 , Figure 4 and Figure 5 , in an embodiment of the present disclosure, the resettable object operation table further comprises a first support frame 41, which is configured to arrange the first slide rail 2212 so that the first sliding block 2211 is at the same height as the tabletop 11 of the table body 1.
[0086] In detail, the first support frame 41 of the present disclosure comprises two first support columns of the same height, the bottoms of which are respectively provided with bases, and the tops of which are respectively provided with rectangular support platforms, and the longer sides of the rectangular support platforms extend along the first direction, and the shorter sides are substantially the same as the width of the first slide rail 2212. The distance between the two first support columns is set by a person skilled in the art according to the weight of the actual mechanical arm 21 and the first driving mechanism.
[0087] In this way, the first slide rail 2212 is stably arranged on one side of the table body 1, and the bottom of the mechanical arm 21 fixed on the first sliding block 2211 is at the same height as the tabletop 11 of the table body 1, so that the mechanical arm 21 can obtain sufficient movement space and will not be blocked by the tabletop 11 when picking up or placing the target object 14. At the same time, the first linear guide rail 221 is stably supported to ensure that it will not be offset or deformed during work.
[0088] As shown in Figure 2 and Figure 3As shown, in one embodiment of the present disclosure, the second driving mechanism is arranged outside the edge of the table body 1, and includes a second motor 322, a second linear guide rail 321 and a second transmission assembly. The second sliding rail 3212 of the second linear guide rail 321 is fixedly arranged relative to the table body 1 and extends along the first direction, and the second sliding block 3211 of the second linear guide rail 321 drives the movable reset member 31 to move; the second transmission assembly is connected between the second sliding block 3211 of the second linear guide rail 321 and the second motor 322, and is configured to convert the rotary motion of the second motor 322 into the linear motion of the second sliding block 3211 along the second sliding rail 3212.
[0089] The second driving mechanism of the present disclosure is fixedly arranged on one side of the longer side of the rectangular table top 11 through the second support frame 42.
[0090] In detail, in one embodiment, the second transmission assembly of the present disclosure is a ball screw nut transmission mechanism, the ball screw nut transmission mechanism is rotatably arranged along the first direction and is fixedly arranged relative to the table body 1, one end of the ball screw nut transmission mechanism is connected to the second motor 322 through a shaft coupling, the second motor 322 is arranged at the end close to the starting position of the movable reset member 31 on the second linear guide rail 321, the second sliding block 3211 is arranged on the second sliding rail 3212 of the second linear guide rail 321, the second sliding block 3211 is fixedly connected to the nut block of the ball screw, and the third driving mechanism is fixed to the second sliding block 3211.
[0091] More specifically, the second motor 322 drives the intermediate transmission shaft 323 to rotate, thereby controlling the rotation of the ball screw, the ball screw nut transmission mechanism converts the rotary motion of the second motor 322 into the linear motion of the nut block on the ball screw, thereby driving the second sliding block 3211 to move along the second sliding rail 3212, thereby driving the third driving mechanism to move, and thereby driving the movable reset member 31 fixed to the third driving mechanism to move. When resetting, the movable reset member 31 moves along the second sliding rail 3212 and stops at the original area 12 point, so as to reset the target object 14. At the same time, the second sliding rail 3212 guides and limits the movement route of the third driving mechanism, so that the movement process of the movable reset member 31 is more stable and accurate.
[0092] According to one embodiment of the present disclosure, the second transmission assembly of the present disclosure can also be a synchronous belt transmission mechanism, the driving wheel is rotatably fixed relative to the table body 1 and is connected to the second motor 322 through a shaft coupling, the driven wheel is rotatably arranged at the end away from the driving wheel along the second sliding rail, the synchronous belt is arranged in tension and is connected between the driving wheel and the driven wheel. The second motor 322 is arranged at the end close to the starting position of the movable reset member 31 on the second linear guide rail 321, the second sliding block 3211 is arranged on the second sliding rail 3212 of the second linear guide rail 321, the second sliding block 3211 is fixedly connected to the synchronous belt, and the third driving mechanism is fixed to the second sliding block 3211.
[0093] More specifically, the second motor 322 drives the main wheel to rotate, and the synchronous belt transmission mechanism converts the rotary motion of the second motor 322 into the linear motion of the synchronous belt, thereby driving the second sliding block 3211 to move along the second sliding rail 3212, and further driving the third driving mechanism to move, so that the movable reset part 31 fixed on the third driving mechanism moves. When resetting, the movable reset part 31 moves along the second sliding rail 3212 and stops at the original area 12 point to reset the target object 14. At the same time, the second sliding rail 3212 guides and limits the movement route of the third driving mechanism, so that the movement process of the movable reset part 31 is more stable and accurate.
[0094] Further, the second driving mechanism of the present disclosure includes a position signal element. According to an embodiment of the present disclosure, the position signal element provided on the second linear guide rail 321 is an optical sensor. The second sliding rail 3212 is provided with two optical sensors near the motor end and one optical sensor away from the motor end. Among them, the two optical sensors at both ends of the second sliding rail 3212 can limit the second sliding block 3211, so that the second sliding block 3211 will not slip off the second sliding rail 3212 when moving in the first direction. The second optical sensor near the motor end is the zero position of the second sliding block 3211, which is also the initial position of the movable reset part 31 moving in the first direction.
[0095] As shown in Figure 2 and Figure 3 In an embodiment of the present disclosure, the second driving mechanism includes two second linear guide rails 321 arranged in parallel with each other, and two second transmission assemblies arranged correspondingly. The second motor 322 is in transmission connection with the two second transmission assemblies through an intermediate transmission shaft 323.
[0096] In detail, the two second linear guide rails 321 are arranged in parallel on both sides of the longer side of the rectangular tabletop 11, and the intermediate transmission shaft 323 is arranged near the end close to the second motor 322. The two second transmission assemblies of the two second linear guide rails 321 are in transmission connection through a shaft coupling. Further, the intermediate transmission shaft 323 is in gear transmission connection with the second motor 322, so that the second motor 322 controls the rotation of the intermediate transmission shaft 323, and further controls the synchronous transmission of the two second transmission assemblies, thereby synchronously moving the two corresponding second sliding blocks 3211.
[0097] In this way, by arranging the two second linear guide rails 321 in parallel with each other, compared with arranging the second linear guide rails 321 in parallel with each other and the slide rod supporting the movement of the movable reset part 31, the pressure on the second sliding block 3211 can be reduced, and the second sliding rail 3212 and the second transmission assembly can be prevented from being worn and tilted when the second sliding block 3211 drives the movable reset part 31 to move.
[0098] Meanwhile, the intermediate transmission shaft 323 is arranged in the two second linear guides 321 which are parallel to each other, so that the speed of the two ends of the movable reset member 31 is consistent when the movable reset member 31 moves, the angle of the first pushing surface 311 does not change, the first pushing surface 311 is always perpendicular to the first direction, the movable reset member 31 can be kept stable during movement, the efficiency of the reset is ensured, and damage to the second driving mechanism caused by inconsistent displacement of the two second sliders 3211 is avoided.
[0099] As shown in Figure 2 and Figure 5 In one embodiment of the present disclosure, the resettable article operation table further comprises a second support frame 42, which is configured to arrange a second sliding rail 3212 so that the second sliding rail 3212 is at the same height as the tabletop 11 of the table body 1.
[0100] In detail, the second support frame 42 of the present disclosure is four second support columns of the same height, two second support columns are arranged on both sides of the table body 1 respectively to support the two second linear guides 321, and the second support columns are arranged in parallel with the first support columns corresponding to the first direction, and the second support columns close to the first driving mechanism are arranged between the first support frame 41 and the table body 1.
[0101] Further, the two second support columns close to the first support frame 41 are arranged on the same base as the corresponding first support columns. The top of the second support column is respectively provided with a rectangular support platform, and the longer side of the rectangular support platform is arranged in extension along the first direction, and the shorter side is substantially the same as the width of the second sliding rail 3212, and the distance between the two second support columns on the same side is arranged according to the distance between the two first support columns.
[0102] In this way, the stability of the second support frame 42 can be improved, and the installation is more convenient, the appearance of the operation table of the present disclosure is enhanced, at the same time, the two second sliding rails 3212 which are parallel to each other are at the same height as the tabletop 11, the stability of the movement of the movable reset member 31 is ensured, and the second sliding block 3211 arranged on the second sliding rail 3212 is slightly higher than the height of the tabletop 11 of the table body 1, so that the movable reset member 31 does not move closely to the tabletop 11, friction is avoided to reduce efficiency, and resistance to the second driving mechanism and the third driving mechanism causes damage. At the same time, the first linear guide 321 is provided with stable support to ensure that it does not deviate or deform during work.
[0103] As shown in Figure 2 and Figure 3As shown, in one embodiment of the present disclosure, the third driving mechanism is fixedly arranged on the second sliding block 3211 of the second driving mechanism, and includes a third motor 332, a third linear guide rail 331, and a third transmission assembly. The third sliding rail 3312 of the third linear guide rail 331 is fixedly arranged at the end of the second sliding block 3211 and extends in the second direction, and the third linear guide rail 331 is provided with a third sliding block 3311, and the movable reset member 31 is fixed on the third sliding block 3311. The third transmission assembly connects the third sliding block 3311 and the third motor 332, and is configured to convert the rotary motion of the third motor 332 into the linear motion of the third sliding block 3311 along the third sliding rail 3312.
[0104] The two ends of the third driving mechanism of the present disclosure are respectively fixedly arranged on the second sliding block 3211 of the second driving mechanism.
[0105] In detail, in one embodiment, the third transmission assembly of the present disclosure is a ball screw nut transmission mechanism, the ball screw nut transmission mechanism is rotatably arranged in the second direction and is fixedly arranged relative to the table body 1, one end of the ball screw nut transmission mechanism is connected to the third motor 332 through a shaft coupling, the third motor 332 is arranged at the end of the third linear guide rail 331 away from the mechanical arm 21, the third linear guide rail 331 is provided with a third sliding block 3311 on the third sliding rail 3312, the third sliding block 3311 is fixedly connected to the nut block of the ball screw, and the movable reset member 31 is fixed on the third sliding block 3311.
[0106] More specifically, the third motor 332 drives the ball screw to rotate through the shaft coupling, the ball screw nut transmission mechanism converts the rotary motion of the third motor 332 into the linear motion of the nut block on the ball screw, and further drives the third sliding block 3311 to move along the third sliding rail 3312, so as to move the movable reset member 31. When resetting, the movable reset member 31 reciprocates in the second direction to reset the target object 14. At the same time, the third sliding rail 3312 guides and limits the movement route of the movable reset member 31, so that the movement process is more stable and accurate.
[0107] According to one embodiment of the present disclosure, the third transmission assembly of the present disclosure can also be a synchronous belt transmission mechanism, the driving wheel is rotatably fixed relative to the table body 1 and connected to the third motor 332 through a shaft coupling, the driven wheel is rotatably arranged at the end away from the driving wheel along the third sliding rail, the synchronous belt is tensioned and connected between the driving wheel and the driven wheel. The third motor 332 is arranged at the end of the third linear guide rail 331 away from the mechanical arm 21, the third linear guide rail 331 is provided with a third sliding block 3311 on the third sliding rail 3312, the third sliding block 3311 is fixedly connected to the synchronous belt, and the movable reset member 31 is fixed on the third sliding block 3311.
[0108] More specifically, the third motor 332 drives the drive wheel to rotate, and the synchronous belt transmission mechanism converts the rotational motion of the third motor 332 into the linear motion of the synchronous belt, which in turn drives the third slider 3311 to move along the third slide rail 3312, thereby moving the movable reset member 31. During reset, the movable reset member 31 reciprocates along the second direction to reset the target item 14. At the same time, the third slide rail 3312 guides and limits the movement path of the movable reset member 31, making its movement process more stable and accurate.
[0109] Furthermore, the third drive mechanism of this disclosure includes a position signal element. According to one embodiment of this disclosure, the position signal element provided on the third linear guide 331 is a photoelectric sensor. The third slide rail 3312 has two photoelectric sensors near the motor end and one photoelectric sensor away from the motor end. The two photoelectric sensors at both ends of the third slide rail 3312 can limit the movement of the third slider 3311, preventing it from slipping off the third slide rail 3312 when moving along the second direction. The second photoelectric sensor near the motor end indicates the zero-point position of the third slider 3311. The zero-point position allows the movable reset member 31 to move along the second direction to the starting position of the midpoint of the third slide rail 3312.
[0110] like Figures 2 to 4 As shown, in one embodiment of this disclosure, the reset device further includes a fixed baffle 34, which is fixedly disposed on the edge side of the original region 12 away from the target region 13 and is configured to limit the maximum distance that the movable reset member 31 can push the target item 14 from the target region 13 to the original region 12 along a first direction.
[0111] In detail, the fixed baffle 34 is located on the outer side of the original area 12 near the edge of the tabletop 11, with its baffle surface extending along the second direction and support plates fixed to the tabletop 11 at both ends of its back side.
[0112] This configuration improves the stability of the fixed baffle 34 and limits the maximum distance that the target item 14 can move along the first direction when the movable reset member 31 pushes the target item 14 to roll or slide, ensuring that the target item 14 will not roll out or slide out of the original area 12.
[0113] like Figure 1 and Figure 6As shown, in one embodiment of the present disclosure, the resettable article operation table further comprises a first image recognition element 51, a display module, and a control module. Among them, the first image recognition element 51 is configured to move synchronously with the mechanical arm 21, and obtain image information of the target article 14; the display module is in communication connection with the first image recognition element 51, and is configured to display the image information of the target article 14; the control module is in communication connection with the mechanical arm 21, the first driving mechanism, and the reset device, and controls the mechanical arm 21, the first driving mechanism, and the reset device to perform corresponding actions based on control instructions.
[0114] In detail, the control module of the resettable article operation table of the present disclosure controls five parallel circuits by the total switch S0, and sets an AC-DC module to convert alternating voltage into direct current voltage.
[0115] Among them, the first parallel circuit provides power supply for the first driving mechanism and controls the current on-off by the first switch S1; the second parallel circuit provides power supply for the second driving mechanism and controls the current on-off by the second switch S2; the third parallel circuit provides power supply for the third driving mechanism and controls the current on-off by the third switch S3; the fourth parallel circuit provides power supply for the mechanical arm 21 and the gripper and controls the current on-off by the total switch S0 directly; the fifth parallel circuit has two branches in parallel, branch one is provided with 6-8 wifi routes, and provides 12V direct current voltage for them through the 12VDC module, and controls the current on-off by S0 directly, and branch two provides power supply for the X86 architecture CPU module, and the first image recognition element 51 is in communication connection with the X86 architecture CPU module through USB, and controls the current on-off by the fourth switch S4. At the same time, the 6-8 wifi routes are in communication connection with the first driving mechanism, the second driving mechanism, the third driving mechanism, the mechanical arm 21, and the X86 architecture CPU module through LAN (local area network).
[0116] During the task process, the X86 architecture CPU module processes the image information of the target article 14 obtained by the first image recognition element 51, and the user views it through the display module, and then the user issues instructions through the control module to control the first driving mechanism to move, and controls the mechanical arm 21 and the gripper to pick and place the target article 14, after the picking and placing is completed, the user issues a reset instruction through the control module, and then the first driving mechanism drives the mechanical arm 21 to return to the initial position, and then the second driving mechanism and the third driving mechanism drive the movable reset part 31 to reset the target article 14. After the reset is completed, the second driving mechanism and the third driving mechanism drive the movable reset part 31 to return to the starting position, and at the same time the mechanical arm 21 returns to the initial non-operation state, realizing homing.
[0117] In one embodiment of the present disclosure, the first image recognition element 51 can manually adjust its angle to better identify the target article 14.
[0118] like Figure 1 and Figure 6 As shown, in one embodiment of this disclosure, the resetting object operating table further includes a second image recognition element 52, a display module, and a control module. The second image recognition element 52 is fixedly disposed relative to the table body 1 and configured to provide image information of the desktop 11; the display module is communicatively connected to the second image recognition element 52 and configured to display the image information of the desktop 11; the control module is configured to communicatively connect to the robotic arm 21, the first drive mechanism, and the reset device, and to control the robotic arm 21, the first drive mechanism, and the reset device to perform corresponding actions based on control commands.
[0119] Furthermore, in one embodiment of this disclosure, two second image recognition elements 52 are also provided on the second branch of the fifth parallel circuit and are connected to the X86 architecture CPU module via USB communication, and their current is controlled by the fourth switch S4.
[0120] During the task, the x86 architecture CPU module processes the image information of the target item 14 obtained by the first image recognition element 51 and the desktop image information obtained by the second image recognition element 52, and displays this information to the user. Then, based on the two image information, the user issues commands through the control module to control the movement of the first drive mechanism and manipulates the robotic arm 21 and gripper to pick up and place the target item. After the pick-up and place are completed, the user issues a reset command through the control module. The first drive mechanism then drives the robotic arm 21 back to its initial position. The second and third drive mechanisms then drive the movable reset component 31 to reset the target item. After the reset is complete, the second and third drive mechanisms drive the movable reset component 31 back to its starting position, and the robotic arm 21 returns to its initial inactive state, achieving a return to its original position.
[0121] For better understanding, please refer to the following... Figures 1 to 6 The working principle of the resettable worktable provided in this disclosure will be explained in detail with an application scenario.
[0122] This disclosure provides a resettable worktable, which includes a table body 1, a robotic arm 21, and a reset device. The robotic arm 21 is fixedly mounted on one side of the table body 1, and the reset device is fixedly mounted on the table body 1.
[0123] Specifically, the present disclosure can reset a plurality of target objects 14 placed in the original area 12 on the object operation table, the mechanical arm 21 and the resetting device are both in their initial positions, and the operation table is powered on. Then, the user obtains the image information of the target objects 14 through the first image recognition element 51, confirms the target objects 14, and obtains the image information of the table top 11 through the second image recognition element 52, and then operates the mechanical arm 21 to reach the first preset position, grabs the target objects 14 in the original area 12, drives the mechanical arm 21 along the first linear guide rail 221 to the second preset position through the first driving mechanism, and places the target objects 14 in the target area 13. When the user places all the target objects 14 that need to be grabbed into the target area 13, the resetting operation begins. The mechanical arm 21 returns to the initial position along the first slide rail 2212 to prevent interference with the resetting device, and then the second driving mechanism drives the third driving mechanism and the movable resetting part 31 to push the target objects 14 in the second direction to the original area 12 point, and then the movable resetting part 31 reciprocates in the second direction through the third driving mechanism to push the target objects 14 to ensure that they return to the original area 12. During the resetting process, the fixed baffle 34 on one side of the original area 12 can limit the maximum distance that the movable resetting part 31 pushes the target objects 14 to move in the first direction. After the resetting operation is completed, the resetting device returns to the starting position, the mechanical arm 21 returns to the initial unoperated state, the homing operation is realized, and finally the operation is ended and the power is turned off.
[0124] In this way, when the resettable object operation table resets the target objects 14, on the one hand, the mechanical arm 21 will move to the initial position to avoid interference with the resetting device. On the other hand, by moving in two directions through the second driving mechanism and the third driving mechanism, the target objects 14 can be efficiently and automatically reset to the original area 12, which saves labor costs compared to manual resetting, has high automation, and improves the efficiency of resetting.
[0125] The above has described various embodiments of the present disclosure, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles, practical applications, or technical improvements in the art, or to enable other ordinary skilled persons in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.
Claims
1. A repositionable worktable, characterized in that, include: The table (1) has an original area (12) and a target area (13) on its desktop (11). The robotic arm (21) is movably disposed on one side of the table (1) and is configured to move from the initial position to the first preset position under the drive of the first drive mechanism, grab the target item (14) in the original area (12), move to the second preset position, place the target item (14) in the target area (13), and then return to the initial position. A reset device is disposed on the table (1) and configured to reset the target item (14) in the target area (13) to the original area (12) and return it to the starting position; The reset device includes: The movable reset member (31) has a first pushing surface (311), a second pushing surface (312) and a third pushing surface (313), wherein the second pushing surface (312) and the third pushing surface (313) are set at an angle to the first pushing surface (311) to form a space for accommodating the target item (14); A second drive mechanism is disposed on the table body (1) and configured to push the movable reset member (31) along a first direction to move the target item (14) from the target area (13) to the original area (12); A third drive mechanism is disposed on the table body (1) and configured to push the movable reset member (31) to move the target item (14) toward the original area (12) in a second direction, wherein the first direction and the second direction are perpendicular to each other.
2. The repositionable worktable according to claim 1, characterized in that, The second pushing surface (312) and the third pushing surface (313) are parallel to each other and are both set at right angles to the first pushing surface (311), and the first direction is perpendicular to the first pushing surface (311).
3. The repositionable worktable according to claim 1, characterized in that, The first drive mechanism is disposed on one side of the table body (1) and includes: First motor (222); The first linear guide rail (221) has a first slide rail (2212) fixedly disposed relative to the table body (1) and extended along the first direction. The robotic arm (21) is fixedly disposed on the first slider (2211) of the first linear guide rail (221). A first transmission assembly is connected to the first slider (2211) of the first linear guide (221) and the first motor (222), and is configured to convert the rotational motion of the first motor (222) into linear motion of the first slider (2211) along the first guide rail (2212).
4. The repositionable worktable according to claim 3, characterized in that, The repositionable worktable also includes a first support frame (41) configured to accommodate the first slide rail (2212) so that the first slider (2211) is at the same height as the tabletop (11) of the table body (1).
5. The repositionable worktable according to claim 2, characterized in that, The second drive mechanism is disposed on the outer edge of the table body (1) and includes: Second motor (322); The second linear guide (321) has a second slide rail (3212) fixedly disposed relative to the table body (1) and extended along the first direction. The second slider (3211) of the second linear guide (321) drives the movable reset member (31) to move. The second transmission assembly connects the second slider (3211) of the second linear guide (321) to the second motor (322) and is configured to convert the rotational motion of the second motor (322) into linear motion of the second slider (3211) along the second slide rail (3212).
6. The repositionable worktable according to claim 5, characterized in that, The second drive mechanism includes two parallel second linear guides (321) and two corresponding second transmission components. The second motor (322) is connected to the two second transmission components via an intermediate transmission shaft (323).
7. The repositionable worktable according to claim 6, characterized in that, The repositionable worktable also includes a second support frame (42) configured to accommodate the second slide rail (3212) such that the second slide rail (3212) is at the same height as the tabletop (11) of the table body (1).
8. The repositionable worktable according to claim 7, characterized in that, The third driving mechanism is fixedly mounted on the second slider (3211) of the second driving mechanism, and includes: Third motor (332); The third linear guide (331) has a third slide rail (3312) end fixedly disposed relative to the second slider (3211) and extended along the second direction. The third linear guide (331) is provided with a third slider (3311), and the movable reset member (31) is fixed on the third slider (3311). A third transmission assembly is connected to the third slider (3311) of the third linear guide (331) and the third motor (332), and is configured to convert the rotational motion of the third motor (332) into linear motion of the third slider (3311) along the third guide (3312).
9. The repositionable article operating table according to any one of claims 2 to 8, characterized in that, The reset device further includes a fixed baffle (34) which is fixedly disposed on the edge side of the original area (12) away from the target area (13) and is configured to limit the maximum distance by which the movable reset member (31) pushes the target item (14) from the target area (13) to the original area (12) along a first direction.
10. The repositionable worktable according to claim 1, characterized in that, The repositionable worktable also includes: A first image recognition element (51) is configured to move synchronously with the robotic arm (21) and acquire image information of the target item (14); The display module is communicatively connected to the first image recognition element (51) and is configured to display image information of the target item (14); The control module is configured to communicate with the robotic arm (21), the first drive mechanism and the reset device, and to control the robotic arm (21), the first drive mechanism and the reset device to perform corresponding actions based on control commands.
11. The repositionable worktable according to claim 1, characterized in that, The repositionable worktable also includes: A second image recognition element (52) is fixedly disposed relative to the table body (1) and configured to provide image information of the desktop (11); The display module is communicatively connected to the second image recognition element (52) and is configured to display image information of the desktop (11); The control module is configured to communicate with the robotic arm (21), the first drive mechanism and the reset device, and to control the robotic arm (21), the first drive mechanism and the reset device to perform corresponding actions based on control commands.
12. The repositionable worktable according to claim 1, characterized in that, The tabletop (11) of the table body (1) is a square tabletop, with one of the two intersecting sides of the square tabletop extending along a first direction and the other side extending along a second direction.