3D visual mechanical arm sorting and grabbing system

Abstract

The utility model discloses a 3D visual mechanical arm sorting and grabbing system which comprises a base, a vertical groove is formed in the surface of the base in a surrounding mode, a vertical pipe is fixedly installed at the bottom end of the interior of the base, a lead screw is rotatably installed in the vertical pipe, the surface of the lead screw is sleeved with a sliding sleeve in a threaded mode, a rotating motor is fixedly installed at the top of the vertical pipe, and the rotating motor is connected with the sliding sleeve in a threaded mode. And the output end of the rotating motor penetrates through the vertical pipe and is fixedly connected with the top of the lead screw, sliding grooves are formed in the surface of the vertical pipe in a surrounding mode, sliding blocks are movably installed in the sliding grooves, and one sides of the sliding blocks are fixedly connected with one sides of sliding sleeves. According to the 3D vision mechanical arm sorting and grabbing system, in the daily use process, an operator starts a rotating motor, the rotating motor operates to enable a lead screw to rotate, then the lead screw drives a sliding sleeve to slide in a vertical pipe, and then the sliding sleeve drives a sliding block to slide in a sliding groove.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically a 3D vision robotic arm sorting and grasping system. Background Technology

[0002] A robotic arm is a complex system characterized by high precision, multiple inputs and outputs, high nonlinearity, and strong coupling. Due to its unique operational flexibility, it has been widely used in fields such as industrial assembly and safety and explosion protection, thus requiring a 3D vision robotic arm sorting and grasping system.

[0003] When operators are handling materials, they often use corresponding 3D vision robotic arm sorting and grasping systems. Although the existing systems can achieve the purpose of grasping, they lack auxiliary support mechanisms in actual use, resulting in poor stability. Furthermore, the lack of buffer mechanisms during grasping may damage the materials, thus reducing their practicality. Utility Model Content

[0004] The purpose of this utility model is to provide a 3D vision robotic arm sorting and grasping system to solve the problem mentioned in the background art. When operators are grasping materials, they often use corresponding 3D vision robotic arm sorting and grasping systems. Although the existing systems can achieve the purpose of grasping, they lack auxiliary support mechanisms in actual use, have poor stability, and lack buffer mechanisms during grasping, which may damage the materials and reduce their practicality.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a 3D vision robotic arm sorting and grasping system, comprising a base, wherein a vertical groove is formed around the surface of the base, a vertical tube is fixedly installed at the bottom of the base, a lead screw is rotatably installed inside the vertical tube, a sliding sleeve is threaded onto the surface of the lead screw, a rotary motor is fixedly installed at the top of the vertical tube, the output end of the rotary motor passes through the vertical tube and is fixedly connected to the top of the lead screw, a sliding groove is formed around the surface of the vertical tube, a slider is movably installed inside each of the sliding grooves, one side of the slider is fixedly connected to one side of the sliding sleeve, a guide rail is fixedly installed around the bottom of the base, a movable plate is movably sleeved onto the surface of each guide rail, and an adjusting rod is hinged between the movable plate and the slider.

[0006] Preferably, a carrying rack is fixedly installed on the top of each movable plate, an electric hydraulic rod is fixedly installed at the top of each carrying rack, and an electric suction cup is fixedly installed at the bottom of the output end of each electric hydraulic rod.

[0007] Preferably, a robotic arm is provided on the top of the base, a structured light camera is provided on the surface of the robotic arm, a crossbar is provided on one side of the robotic arm, a strip groove is opened on one side of the crossbar, a bidirectional threaded rod is rotatably installed inside the strip groove, and a moving block is threadedly sleeved at both ends of the surface of the bidirectional threaded rod, and a clamp is fixedly installed on one side of each moving block.

[0008] Preferably, a round rod is movably mounted on one end of each clamping plate, one end of the round rod passes through the clamping plate and extends to one end of the clamping plate, a gripping plate is fixedly mounted on one end of each round rod, and a spring is fixedly mounted between the gripping plate and the clamping plate, with the inner surface of the spring movably connected to the outer surface of the round rod.

[0009] Preferably, a gripping motor is fixedly installed at one end of the crossbar, and the output end of the gripping motor passes through the crossbar and is fixedly connected to one end of the bidirectional threaded rod.

[0010] Preferably, four casters are movably installed at the four corners of the bottom of the base, and the four casters are of the same size.

[0011] Compared with the prior art, the beneficial effects of this utility model are:

[0012] This 3D vision robotic arm sorting and gripping system operates as follows: The operator starts a rotary motor, which rotates a lead screw. The lead screw then moves a sliding sleeve inside a vertical tube, which in turn moves a slider inside a groove. The slider then pushes an adjusting rod, which in turn moves a moving plate along a guide rail. The moving plate then moves a carrying rack until it extends out of the base. Simultaneously, an electro-hydraulic actuator is activated, causing an electric suction cup to slide until its bottom is placed on the work surface and adhered to it for stability.

[0013] This 3D vision robotic arm sorting and gripping system operates by having the operator start the gripping motor. The motor's operation causes the bidirectional threaded rod to rotate, which in turn drives a moving block to slide inside a slot. The moving block then drives a clamping plate to slide. When the gripping plate grips the material, it causes the circular rod to slide inside the clamping plate. Simultaneously, the gripping plate compresses and squeezes the spring, thus buffering the gripping force and reducing damage to the material. Attached Figure Description

[0014] Figure 1 This is the front view of the present invention;

[0015] Figure 2This is a cross-sectional view of the present invention;

[0016] Figure 3 For the present utility model Figure 2 Enlarged view of a portion of point A in the middle;

[0017] Figure 4 For the present utility model Figure 2 Enlarged view of section B in the middle.

[0018] In the diagram: 1. Base; 2. Vertical groove; 3. Vertical tube; 4. Lead screw; 5. Sliding sleeve; 6. Rotary motor; 7. Sliding groove; 8. Slider; 9. Guide rail; 10. Moving plate; 11. Adjusting rod; 12. Carrier; 13. Electro-hydraulic rod; 14. Electric suction cup; 15. Robotic arm; 16. Crossbar; 17. Strip groove; 18. Bidirectional threaded rod; 19. Moving block; 20. Clamping plate; 21. Round rod; 22. Grab plate; 23. Spring; 24. Grab motor; 25. Caster wheel. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0020] Please see Figure 1-4This utility model provides a technical solution: a 3D vision robotic arm sorting and grasping system, including a base 1. The surface of the base 1 is surrounded by four vertical grooves 2. A vertical tube 3 is fixedly installed at the bottom of the base 1. A lead screw 4 is rotatably installed inside the vertical tube 3. A sliding sleeve 5 is threaded onto the surface of the lead screw 4. When the lead screw 4 rotates, it causes the sliding sleeve 5 to slide inside the vertical tube 3. A rotary motor 6 is fixedly installed at the top of the vertical tube 3. The output end of the rotary motor 6 passes through the vertical tube 3 and is fixedly connected to the top of the lead screw 4. When the rotary motor 6 runs, it causes the lead screw 4 to rotate. The surface of the vertical tube 3 is surrounded by sliding grooves 7. A slider 8 is movably installed inside each of the sliding grooves 7. One side of the slider 8 is fixedly connected to one side of the sliding sleeve 5. When the sliding sleeve 5 slides, it causes the slider 8 to slide within the sliding grooves 7. The base 1 has a guide rail 9 fixedly installed around its bottom. The surface of the guide rail 9 is movably fitted with a movable plate 10. The movable plate 10 and the slider 8 are hinged with an adjusting rod 11. When the slider 8 slides, it pushes the adjusting rod 11 to slide, which in turn pushes the movable plate 10 to slide on the surface of the guide rail 9. The top of the movable plate 10 is fixedly installed with a carrier 12. When the movable plate 10 slides, it drives the carrier 12 to slide. The top of the carrier 12 is fixedly installed with an electric hydraulic rod 13. When the carrier 12 slides, it drives the electric hydraulic rod 13 to slide. The bottom of the output end of the electric hydraulic rod 13 is fixedly installed with an electric suction cup 14. When the electric hydraulic rod 13 is running, it drives the electric suction cup 14 to slide, and then it is attached to the ground by the electric suction cup 14.

[0021] A robotic arm 15 is mounted on the top of the base 1. A structured light camera is mounted on the surface of the robotic arm 15, enabling 3D visual grasping through the structured light camera and the robotic arm 15. A crossbar 16 is mounted on one side of the robotic arm 15, and a slot 17 is formed on one side of the crossbar 16. A bidirectional threaded rod 18 is rotatably mounted inside the slot 17. Both ends of the bidirectional threaded rod 18 are threadedly fitted with movable blocks 19. When the bidirectional threaded rod 18 rotates, it drives the movable blocks 19 to move towards or away from each other inside the slot 17. A clamping plate 20 is fixedly mounted on one side of each movable block 19. When the movable block 19 slides, it drives the clamping plate 20 to slide. A round rod 21 is movably mounted on one end of each clamping plate 20. One end of the round rod 21 passes through the clamping plate 20 and extends to the other end of the clamping plate 20. The outer surface of the round rod 21 is flush with the clamping plate 20. The inner surface of plate 20 is smooth. One end of each round rod 21 is fixedly equipped with a gripping plate 22. When the gripping plate 22 slides, it will cause the round rod 21 to slide. A spring 23 is fixedly installed between the gripping plate 22 and the clamping plate 20. The inner surface of the spring 23 is movably connected to the outer surface of the round rod 21. When the gripping plate 22 slides, it will squeeze and compress the spring 23. One end of the crossbar 16 is fixedly equipped with a gripping motor 24. The output end of the gripping motor 24 passes through the crossbar 16 and is fixedly connected to one end of the bidirectional threaded rod 18. When the gripping motor 24 runs, it will cause the bidirectional threaded rod 18 to rotate. Four universal wheels 25 are movably installed at the four corners of the bottom of the base 1. There are four universal wheels 25, and the four universal wheels 25 are the same size. Due to the design of the universal wheels 25, the base 1 can move freely.

[0022] Working principle: The operator can move the base 1 using the casters 25, and then start the rotary motor 6. The operation of the rotary motor 6 will cause the lead screw 4 to rotate, which will then drive the sliding sleeve 5 to slide inside the vertical tube 3. Subsequently, the sliding sleeve 5 will drive the slider 8 to slide inside the slide groove 7. At this time, the slider 8 will push the adjusting rod 11 to slide, which in turn will push the moving plate 10 to slide on the surface of the guide rail 9. Then, the moving plate 10 will drive the shelf 12 to slide until the shelf 12 extends out of the base 1. At the same time, the electric hydraulic rod 13 is activated, and the operation of the electric hydraulic rod 13 will cause the electric suction cup 14 to slide, straight... The bottom of the electric suction cup 14 is placed on the working surface and is attached to the working surface by the electric suction cup 14 to make it more stable. Then, 3D vision grasping can be achieved by the structured light camera and the robotic arm 15. Then, the grasping motor 24 is started. The operation of the grasping motor 24 will cause the bidirectional threaded rod 18 to rotate. Then, the bidirectional threaded rod 18 will drive the moving block 19 to slide inside the strip groove 17. Subsequently, the moving block 19 will drive the clamping plate 20 to slide. When the gripping plate 22 grasps the material, the gripping plate 22 will drive the round rod 21 to slide inside the clamping plate 20. At the same time, the gripping plate 22 will squeeze and compress the spring 23, which can buffer the grasping force.

[0023] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A 3D vision robotic arm sorting and grasping system, comprising a base (1), characterized in that: The base (1) has a vertical groove (2) around its surface. A vertical tube (3) is fixedly installed at the bottom inside the base (1). A lead screw (4) is rotatably installed inside the vertical tube (3). A sliding sleeve (5) is threaded onto the surface of the lead screw (4). A rotary motor (6) is fixedly installed at the top of the vertical tube (3). The output end of the rotary motor (6) passes through the vertical tube (3) and is fixedly connected to the top of the lead screw (4). A sliding groove (7) is opened around the surface of the vertical tube (3). A slider (8) is movably installed inside the sliding groove (7). One side of the slider (8) is fixedly connected to one side of the sliding sleeve (5). A guide rail (9) is fixedly installed around the bottom inside the base (1). A moving plate (10) is movably sleeved onto the surface of the guide rail (9). An adjusting rod (11) is hinged between the moving plate (10) and the slider (8).

2. The 3D vision robotic arm sorting and grasping system according to claim 1, characterized in that: The top of each movable plate (10) is fixedly equipped with a shelf (12), and the top of each shelf (12) is fixedly equipped with an electric hydraulic rod (13), and the bottom of the output end of the electric hydraulic rod (13) is fixedly equipped with an electric suction cup (14).

3. The 3D vision robotic arm sorting and grasping system according to claim 1, characterized in that: A robotic arm (15) is provided on the top of the base (1). A structured light camera is provided on the surface of the robotic arm (15). A crossbar (16) is provided on one side of the robotic arm (15). A strip groove (17) is provided on one side of the crossbar (16). A bidirectional threaded rod (18) is rotatably installed inside the strip groove (17). Both ends of the surface of the bidirectional threaded rod (18) are threaded with moving blocks (19), and a clamping plate (20) is fixedly installed on one side of each moving block (19).

4. The 3D vision robotic arm sorting and grasping system according to claim 3, characterized in that: One end of each clamping plate (20) is movably mounted with a round rod (21). One end of the round rod (21) passes through the clamping plate (20) and extends to one end of the clamping plate (20). One end of each round rod (21) is fixedly mounted with a gripping plate (22). A spring (23) is fixedly mounted between the gripping plate (22) and the clamping plate (20), and the inner surface of the spring (23) is movably connected to the outer surface of the round rod (21).

5. A 3D vision robotic arm sorting and grasping system according to claim 3, characterized in that: A gripping motor (24) is fixedly installed at one end of the crossbar (16), and the output end of the gripping motor (24) passes through the crossbar (16) and is fixedly connected to one end of the bidirectional threaded rod (18).

6. A 3D vision robotic arm sorting and grasping system according to claim 1, characterized in that: The base (1) is equipped with four casters (25) at the four corners of its bottom. The casters (25) are of the same size.

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