Three-dimensional detection device for feeding and discharging of robot

Abstract

The utility model relates to the technical field of industrial automation, in particular to a robot feeding and discharging three-dimensional detection device which comprises a supporting frame and a conveying belt, the conveying belt is arranged in the supporting frame, a power source is arranged in the conveying belt, and two sliding rails are fixedly connected to the upper surface of the supporting frame; a clamping rotating assembly is arranged outside the two sliding rails and comprises an L-shaped plate and a sliding block. By means of the conveying belt, the sliding rail, the clamping and rotating assembly, a triangular plate and other parts, through the mutual cooperation relation between the clamping and rotating assembly and the triangular plate, the clamping and rotating assembly can drive a rack to descend to be engaged with a gear through ascending of a lifting plate, and therefore the gear rotates to drive goods to rotate; and the bottom surface of the goods can be conveniently scanned and detected, so that the effect that the goods can be overturned through the clamping and rotating assembly is achieved, and the risk that the goods are manually picked up and fall off is avoided.

Description

Technical Field

[0001] This application relates to the technical field of industrial automation, and in particular to a three-dimensional inspection device for robot loading and unloading. Background Technology

[0002] In modern manufacturing, robots are widely used on production lines, undertaking tasks such as material handling, processing, and assembly. Loading and unloading is one of the common tasks of robots, and precise loading and unloading operations are crucial for improving production efficiency and product quality.

[0003] Regarding the aforementioned technologies, the inventors have discovered the following drawbacks: In actual operation, since the traditional detection method involves manually holding the instrument to inspect the goods, when inspecting the bottom surface of the goods, workers need to pick up the goods before scanning and detecting them. However, the goods are prone to falling off during the picking process, causing unnecessary damage to the goods, which is a certain deficiency. Utility Model Content

[0004] To address the problems mentioned in the background art, this application provides a three-dimensional inspection device for robot loading and unloading.

[0005] This application provides a three-dimensional inspection device for robot loading and unloading, which adopts the following technical solution: A three-dimensional inspection device for robot loading and unloading includes a support frame and a conveyor belt. The conveyor belt is disposed inside the support frame and has its own power source. Two slide rails are fixedly connected to the upper surface of the support frame. A clamping and rotating assembly is disposed outside the two slide rails. The clamping and rotating assembly includes an L-shaped plate and a sliding block. The outer surface of the L-shaped plate is slidably connected to the inner wall of the front slide rail, and the outer surface of the sliding block is slidably connected to the inner wall of the rear slide rail. A triangular plate is fixedly connected to the outer surface of the conveyor belt.

[0006] Optionally, a first electric telescopic rod is fixedly connected to the bottom surface of the L-shaped plate, and a support plate is fixedly connected to the mounting end of the first electric telescopic rod. The outer surface of the support plate is fixedly connected to the outer surface of the support frame.

[0007] Optionally, a second electric telescopic rod is fixedly connected to the outer surface of the L-shaped plate, and a rotating plate is rotatably connected to the telescopic end of the second electric telescopic rod. A rotating rod is rotatably connected to the outer surface of the sliding block. An arc-shaped clamping plate is fixedly connected to the end of the rotating rod away from the rotating rod and the side of the rotating plate away from the second electric telescopic rod. A square damping pad is provided on the inner wall of both arc-shaped clamping plates.

[0008] Optionally, the clamping and rotating assembly further includes a gear and a lifting plate. The inner wall of the gear is fixedly connected to the outer surface of the rotating rod, and the bottom surface of the lifting plate is provided with a movable wheel, which is in contact with the upper surface of the conveyor belt.

[0009] Optionally, an elastic connecting rod is fixedly connected to the upper surface of the lifting plate, and a rack is fixedly connected to the end of the elastic connecting rod away from the lifting plate. Slider blocks are fixedly connected to the outer surfaces of both the lifting plate and the rack, and both sliders are slidably connected to the inner wall of the slide rail.

[0010] Optionally, a fixing sleeve is fitted on the outer surface of the elastic connecting rod, and a compression spring is provided inside the fixing sleeve. Both ends of the compression spring are fixedly connected to the outer surface of the elastic connecting rod. Two fixing blocks are fixedly connected to the outer surface of the fixing sleeve, and the outer surfaces of the two fixing blocks are fixedly connected to the outer surface of the slide rail.

[0011] Optionally, a connecting plate is fixedly connected to one side of the two slide rails that are close to each other, and a stereo camera, a laser scanner, and a lighting lamp are mounted on the bottom surface of the connecting plate.

[0012] Optionally, a robot body is mounted on top of the support frame, a gripper is mounted on the output end of the robot body, and a cargo scanner is mounted on the outer surface of the gripper.

[0013] In summary, this application includes the following beneficial technical effects:

[0014] 1. This utility model, through the setting of components such as a conveyor belt, slide rail, clamping rotating assembly, and triangular plate, and through the mutual cooperation between the clamping rotating assembly and the triangular plate, enables the clamping rotating assembly to rise via a lifting plate, drive the rack to descend and mesh with the gear, thereby causing the gear to rotate and drive the goods to rotate, facilitating the scanning and detection of the bottom surface of the goods. In this way, the device can achieve the effect of flipping the goods through the clamping rotating assembly, avoiding the risk of dropping the goods when picked up manually.

[0015] 2. This utility model, by setting up components such as a slide rail, a first electric telescopic rod, a second electric telescopic rod, an arc-shaped clamping plate, and a square damping pad, and through the cooperation between the second electric telescopic rod, the arc-shaped clamping plate, and the square damping pad, enables the arc-shaped clamping plate to clamp the goods, and the first electric telescopic rod to lift the clamped goods, which facilitates subsequent flipping and scanning detection of the goods. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure in an embodiment of this application;

[0017] Figure 2 This is a schematic diagram of the structure of the clamping and rotating assembly in an embodiment of this application;

[0018] Figure 3 This is a cross-sectional view of the clamping and rotating assembly in an embodiment of this application;

[0019] Figure 4 This is a partial structural diagram of the clamping and rotating assembly in an embodiment of this application.

[0020] Reference numerals: 1. Support frame; 2. Conveyor belt; 3. Slide rail; 4. Clamping and rotating assembly; 401. L-shaped plate; 402. First electric telescopic rod; 403. Support plate; 404. Second electric telescopic rod; 405. Rotating plate; 406. Arc-shaped clamping plate; 407. Square damping pad; 408. Sliding block; 409. Rotating rod; 410. Gear; 411. Lifting plate; 412. Elastic connecting rod; 413. Fixed sleeve; 414. Rack; 415. Slider; 416. Fixed block; 5. Triangular plate; 6. Connecting plate; 7. Stereo camera; 8. Laser scanner; 9. Lighting lamp; 10. Robot body; 11. Gripper; 12. Cargo scanner. Detailed Implementation

[0021] The following is in conjunction with the appendix Figure 1-4 This application will be described in further detail.

[0022] This application discloses a three-dimensional inspection device for robot loading and unloading. For example... Figure 1 As shown, it includes a support frame 1 and a conveyor belt 2. The conveyor belt 2 is disposed inside the support frame 1 and has its own power source. The conveyor belt 2 is equipped with a motor, which enables the conveyor belt 2 to transport goods.

[0023] Please see Figure 2 The upper surface of the support frame 1 is fixedly connected to two slide rails 3. The outside of the two slide rails 3 is provided with a clamping and rotating assembly 4. The clamping and rotating assembly 4 includes an L-shaped plate 401 and a sliding block 408. The outer surface of the L-shaped plate 401 is slidably connected to the inner wall of the front slide rail 3, and the outer surface of the sliding block 408 is slidably connected to the inner wall of the rear slide rail 3. The inner wall of the slide rail 3 is relatively rough, which can generate a certain friction on the L-shaped plate 401 and the sliding block 408 to prevent tilting during the lifting of goods.

[0024] Please see Figure 2 The bottom surface of the L-shaped plate 401 is fixedly connected to a first electric telescopic rod 402, and the mounting end of the first electric telescopic rod 402 is fixedly connected to a support plate 403. The outer surface of the support plate 403 is fixedly connected to the outer surface of the support frame 1. By extending and retracting the first electric telescopic rod 402, the goods can be clamped and moved upward, which facilitates the flipping and scanning detection of the goods.

[0025] Please see Figure 3The outer surface of the L-shaped plate 401 is fixedly connected to a second electric telescopic rod 404. The telescopic end of the second electric telescopic rod 404 is rotatably connected to a rotating plate 405. The outer surface of the sliding block 408 is rotatably connected to a rotating rod 409. An arc-shaped clamping plate 406 is fixedly connected to the end of the rotating rod 409 away from the rotating rod 409 and the side of the rotating plate 405 away from the second electric telescopic rod 404. The inner walls of the two arc-shaped clamping plates 406 are provided with square damping pads 407. The square damping pads 407 are made of rubber and have the ability to deform under pressure, which facilitates the clamping of goods of different shapes. In addition, the contact surface between the square damping pads 407 and the goods is relatively rough, which can increase the friction of the goods and prevent the goods from falling off during the flipping process.

[0026] Please see Figure 4 The clamping and rotating assembly 4 also includes a gear 410 and a lifting plate 411. The inner wall of the gear 410 is fixedly connected to the outer surface of the rotating rod 409. The bottom surface of the lifting plate 411 is provided with a moving wheel, and the moving wheel is in contact with the upper surface of the conveyor belt 2. The moving wheel provided on the bottom surface of the lifting plate 411 facilitates the movement of the lifting plate 411 on the inclined surface of the triangular plate 5 when it contacts the triangular plate 5, thereby raising the lifting plate 411 and facilitating the subsequent flipping of the goods.

[0027] Please see Figure 4 An elastic connecting rod 412 is fixedly connected to the upper surface of the lifting plate 411. A rack 414 is fixedly connected to the end of the elastic connecting rod 412 away from the lifting plate 411. The elastic connecting rod 412 is made of flexible material, which can ensure that it remains upright after being bent inside the fixed sleeve 413 and then extended. This allows the rack 414 to be pushed downward to rotate the gear 410, facilitating subsequent scanning and detection of the bottom surface of the goods.

[0028] Please see Figure 4 The outer surfaces of the lifting plate 411 and the rack 414 are fixedly connected with sliders 415. Both sliders 415 are slidably connected to the inner wall of the slide rail 3. The outer surface of the slide rail 3 is provided with a groove that matches the two sliders 415, so that the sliders 415 can move in the groove, which facilitates the up and down movement of the lifting plate 411 and the rack 414. At the same time, it can limit the movement of the lifting plate 411 and the rack 414 to prevent them from shaking during movement.

[0029] Please see Figure 3The outer surface of the elastic connecting rod 412 is fitted with a fixing sleeve 413. The fixing sleeve 413 is equipped with a compression spring inside. Both ends of the compression spring are fixedly connected to the outer surface of the elastic connecting rod 412. Two fixing blocks 416 are fixedly connected to the outer surface of the fixing sleeve 413. The outer surfaces of the two fixing blocks 416 are fixedly connected to the outer surface of the slide rail 3. The spring inside the fixing sleeve 413 can rebound after the goods are flipped, so that the lifting plate 411 can move on the other side of the inclined plane of the triangular plate 5, which facilitates normal use in the future.

[0030] Please see Figure 2 A connecting plate 6 is fixedly connected to one side of the two slide rails 3 that are close to each other. A stereo camera 7, a laser scanner 8, and a lighting lamp 9 are installed on the bottom surface of the connecting plate 6. A triangular plate 5 is fixedly connected to the outer surface of the conveyor belt 2. A robot body 10 is installed on the top of the support frame 1. A gripper 11 is installed at the output end of the robot body 10. A cargo scanner 12 is installed on the outer surface of the gripper 11. Through the cooperation between the stereo camera 7 and the laser scanner 8, the shape of the cargo can be better detected, which is convenient for the robot to load and unload the cargo. The lighting lamp 9 can illuminate the cargo when it is flipped, which is convenient for scanning and detecting the cargo in a dark environment.

[0031] The implementation principle of the three-dimensional detection device for robot loading and unloading in this embodiment is as follows: First, the rotation speed of the conveyor belt 2 is set. When the goods move to the middle of the two slide rails 3, the conveyor belt 2 will stop moving. At this time, the second electric telescopic rod 404 is activated to push the arc-shaped clamping plate 406 to clamp the goods. Then, the first electric telescopic rod 402 is activated to push the L-shaped plate 401 upward to a suitable position and then stop, thereby removing the goods from the surface of the conveyor belt 2 to facilitate subsequent rotation of the goods. At this time, the conveyor belt 2 moves again so that the triangular plate 5 contacts the moving wheel at the bottom of the lifting plate 411. During the movement of the triangular plate 5, the moving wheel moves on the inclined surface of the triangular plate 5, thereby raising the lifting plate 411. During the rise of the lifting plate 411, the rack 414 descends and meshes with the gear 410. When the moving wheel at the bottom of the lifting plate 411 moves to the top of the triangular plate 5, the gear 410 rotates exactly one revolution, thus realizing the function of rotating the goods. This facilitates scanning the bottom surface of the goods, making the device more comprehensive in its detection of the goods, saving the time of manually picking up the goods and scanning their bottom surface, improving work efficiency, and facilitating subsequent robot loading and unloading.

[0032] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A three-dimensional inspection device for robot loading and unloading, comprising a support frame (1) and a conveyor belt (2), characterized in that: The conveyor belt (2) is located inside the support frame (1) and has its own power source. Two slide rails (3) are fixedly connected to the upper surface of the support frame (1). A clamping and rotating assembly (4) is provided on the outside of the two slide rails (3). The clamping and rotating assembly (4) includes an L-shaped plate (401) and a sliding block (408). The outer surface of the L-shaped plate (401) is slidably connected to the inner wall of the front slide rail (3). The outer surface of the sliding block (408) is slidably connected to the inner wall of the rear slide rail (3). A triangular plate (5) is fixedly connected to the outer surface of the conveyor belt (2).

2. The three-dimensional detection device for robot loading and unloading according to claim 1, characterized in that: The bottom surface of the L-shaped plate (401) is fixedly connected to a first electric telescopic rod (402), and the mounting end of the first electric telescopic rod (402) is fixedly connected to a support plate (403). The outer surface of the support plate (403) is fixedly connected to the outer surface of the support frame (1).

3. The three-dimensional detection device for robot loading and unloading according to claim 1, characterized in that: The outer surface of the L-shaped plate (401) is fixedly connected to a second electric telescopic rod (404). The telescopic end of the second electric telescopic rod (404) is rotatably connected to a rotating plate (405). The outer surface of the sliding block (408) is rotatably connected to a rotating rod (409). An arc-shaped clamping plate (406) is fixedly connected to the end of the rotating rod (409) away from the rotating rod (409) and the side of the rotating plate (405) away from the second electric telescopic rod (404). A square damping pad (407) is provided on the inner wall of both arc-shaped clamping plates (406).

4. The three-dimensional inspection device for robot loading and unloading according to claim 3, characterized in that: The clamping and rotating assembly (4) also includes a gear (410) and a lifting plate (411). The inner wall of the gear (410) is fixedly connected to the outer surface of the rotating rod (409). The bottom surface of the lifting plate (411) is provided with a moving wheel, and the moving wheel is in contact with the upper surface of the conveyor belt (2).

5. A three-dimensional inspection device for robot loading and unloading according to claim 4, characterized in that: An elastic connecting rod (412) is fixedly connected to the upper surface of the lifting plate (411). A rack (414) is fixedly connected to the end of the elastic connecting rod (412) away from the lifting plate (411). A slider (415) is fixedly connected to the outer surface of both the lifting plate (411) and the rack (414). Both sliders (415) are slidably connected to the inner wall of the slide rail (3).

6. The three-dimensional detection device for robot loading and unloading according to claim 5, characterized in that: A fixing sleeve (413) is fitted on the outer surface of the elastic connecting rod (412). A compression spring is provided inside the fixing sleeve (413). Both ends of the compression spring are fixedly connected to the outer surface of the elastic connecting rod (412). Two fixing blocks (416) are fixedly connected to the outer surface of the fixing sleeve (413). The outer surfaces of the two fixing blocks (416) are fixedly connected to the outer surface of the slide rail (3).

7. A three-dimensional inspection device for robot loading and unloading according to claim 1, characterized in that: A connecting plate (6) is fixedly connected to one side of the two slide rails (3) that are close to each other. A stereo camera (7), a laser scanner (8) and a lighting lamp (9) are installed on the bottom surface of the connecting plate (6).

8. A three-dimensional inspection device for robot loading and unloading according to claim 1, characterized in that: A robot body (10) is mounted on top of the support frame (1). A gripper (11) is mounted on the output end of the robot body (10). A cargo scanner (12) is mounted on the outer surface of the gripper (11).

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