Visual identification grabbing device for disordered sorting of materials

Abstract

The utility model discloses a visual identification grabbing device for disordered sorting of materials. Comprising a positioning base plate, the positioning base plate is provided with a linkage mechanism, and the positioning base plate is further provided with a detection table, a qualified tray, a waste tray, an industrial high-definition camera, a conveyor and a robot mechanism; the linkage mechanism comprises a moving platform, a plurality of mounting grooves are formed in the moving platform, roll shafts are movably mounted in the mounting grooves, a material receiving disc attached to the upper portions of the roll shafts is arranged on the moving platform, the linkage mechanism comprises a servo motor, the output end of the servo motor is connected with a lead screw, and the output end of the lead screw is connected with a motor. A pushing block is connected to the lead screw, two check blocks are arranged on the pushing block, and a material blocking plate arranged in the material conveying device is connected to the pushing block. The material conveying device has the advantages that conveyed materials are blocked and decelerated through the linkage mechanism, positioning and sorting are achieved, the material conveying speed is reduced, and accurate positioning of the sorted materials is improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the automation technical field especially relates to visual identification grabbing device for material disorder sorting. BACKGROUND

[0002] The disorder sorting technology refers to the technology that the robot can complete the whole frame workpiece grabbing based on the 3D vision guidance, has no fixed grabbing sequence, and mainly relies on collision avoidance for grabbing feasibility planning.

[0003] The grabbing planning technology is an important component of the disorder sorting technology, refers to the further grabbing planning of the workpiece posture that has completed the 3D vision identification, makes the workpiece from identifiable to grabbable with more candidate poses and grabbing strategies, includes grabbing approach trajectory, grabbing pose and grabbing exit trajectory, and abnormal collision response mechanism, and the clear frame rate is the core index of the grabbing planning technology.

[0004] However, the prior art has some problems: the existing disorder sorting technology needs to convey the material to the vicinity of the robot when in use, but the position of the material conveying is not fixed when the material is conveyed, which can easily hinder the grabbing process of the robot, and it is not convenient to realize the disorder sorting operation, therefore we propose the visual identification grabbing device for material disorder sorting. UTILITY MODEL CONTENT

[0005] In view of the problems existing in the prior art, the purpose of the utility model is to provide a visual identification grabbing device for material disorder sorting, which realizes blocking and deceleration of the conveying material through a linkage mechanism, and realizes positioning and sorting, so as to reduce the speed of the conveying material and improve the accurate positioning of the sorted material.

[0006] The utility model is implemented in the following way: the visual identification grabbing device for material disorder sorting includes a positioning base plate, a linkage mechanism is arranged on the positioning base plate, a detection table, a qualified tray, a waste tray, an industrial high-definition camera, a material conveyor and a robot mechanism are further arranged on the positioning base plate.

[0007] The linkage mechanism includes a moving platform, a plurality of mounting grooves are formed in the moving platform, roller shafts are movably arranged in the mounting grooves, a material receiving disc is arranged on the upper part of the roller shafts, a servo motor is arranged in the linkage mechanism, the output end of the servo motor is connected with a lead screw, a pushing block is connected with the lead screw, two blocking blocks are arranged on the pushing block, and a material blocking plate is arranged in the material conveyor and connected with the pushing block.

[0008] Specifically, two connecting grooves are formed in the pushing block, and a crank plate is arranged in the connecting grooves through a connecting pin.

[0009] Specific, the inside of the crank plate is provided with a moving groove, the both sides of the material blocking plate are fixedly provided with positioning pins, and the both sides of the positioning pins are movably arranged in the inside of the moving groove.

[0010] Specific, the both sides of the material blocking plate are movably arranged in the inside of the material conveying device, the both sides of the material blocking plate are movably arranged in the inside of the material conveying device, and the both sides of the material blocking plate are movably arranged in the inside of the material conveying device.

[0011] Specific, the both sides of the material blocking plate are movably arranged in the inside of the material conveying device, the both sides of the material blocking plate are movably arranged in the inside of the material conveying device, and the both sides of the material blocking plate are movably arranged in the inside of the material conveying device.

[0012] Specific, the both sides of the material blocking plate are movably arranged in the inside of the material conveying device, the both sides of the material blocking plate are movably arranged in the inside of the material conveying device, and the both sides of the material blocking plate are movably arranged in the inside of the material conveying device.

[0013] Specific, the both sides of the material blocking plate are movably arranged in the inside of the material conveying device, the both sides of the material blocking plate are movably arranged in the inside of the material conveying device, and the both sides of the material blocking plate are movably arranged in the inside of the material conveying device.

[0014] Specific, the both sides of the material blocking plate are movably arranged in the inside of the material conveying device, the both sides of the material blocking plate are movably arranged in the inside of the material conveying device, and the both sides of the material blocking plate are movably arranged in the inside of the material conveying device.

[0015] Compared with the prior art, the beneficial effects of the utility model are:

[0016] The linkage mechanism drives the moving platform to adjust, and drives the material blocking plate to adjust, so that the material conveying speed is reduced.

[0017] The linkage mechanism drives the pushing block by the servo motor, drives the material blocking plate by the crank plate when driving, supports the material blocking plate by the pushing block, adjusts the material blocking plate in the material conveying device, blocks the material, reduces the material conveying speed, prevents the material from flying up when conveying, and realizes accurate positioning.

[0018] And the linkage mechanism adjusts the position of the material receiving disc through the servo motor, so that the material receiving disc can be located below the material conveying device, material receiving is realized, then the material receiving disc is adjusted and moved, so that the material receiving disc can carry the material to be below the robot, the robot can grab, and the grabbing accuracy is improved.

[0019] Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments thereof, taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0020] Fig. 1 is a structural schematic diagram provided by the present application;

[0021] Fig. 2 is a linkage mechanism schematic diagram provided by the present application;

[0022] Fig. 3 is a connection schematic diagram of the servo motor and the push block provided by the present application;

[0023] Fig. 4 is a schematic diagram of the material blocking plate provided by the present application.

[0024] In the figure: 1, positioning base plate; 2, linkage mechanism; 201, moving platform; 202, mounting groove; 203, roller shaft; 204, material receiving disc; 205, servo motor; 206, lead screw; 207, push block; 208, stop block; 209, material blocking plate; 210, connecting groove; 211, positioning pin; 212, crank plate; 213, moving groove; 214, anti-dropping plate; 215, connecting pin; 216, positioning shaft seat; 3, detection table; 4, qualified disc; 5, waste disc; 6, base; 7, first mechanical arm; 8, second mechanical arm; 9, third mechanical arm; 10, fourth mechanical arm; 11, air pressure suction rod; 12, stand column; 13, cross beam; 14, industrial high-definition camera; 15, reinforcing plate; 16, material conveying device; 17, support column; 18, support plate. DETAILED DESCRIPTION

[0025] In order to further understand the utility model content, characteristics and efficacy of the present application, the following examples are given, and the detailed description is as follows in conjunction with the drawings.

[0026] As Figs. 1 to 4 shown, the material disordered sorting visual identification and grabbing device provided by the embodiment of the present application comprises a positioning base plate 1, a linkage mechanism 2 is arranged on the positioning base plate 1, and a detection table 3, a qualified disc 4, a waste disc 5, an industrial high-definition camera 14, a material conveying device 16 and a robot mechanism are further arranged on the positioning base plate 1.

[0027] The linkage mechanism 2 comprises a moving platform 201, a plurality of installation grooves 202 are formed in the moving platform 201, roller shafts 203 are movably installed in the installation grooves 202, a receiving disc 204 is arranged on the moving platform 201 and abuts against the upper portions of the roller shafts 203, the linkage mechanism 2 comprises a servo motor 205, the output end of the servo motor 205 is connected with a lead screw 206, a pushing block 207 is connected with the lead screw 206, two stop blocks 208 are arranged on the pushing block 207, and a material blocking plate 209 is arranged in the material conveying device 16 and connected with the pushing block 207.

[0028] In the embodiment, preferably, two connecting grooves 210 are formed in the pushing block 207, and a crank plate 212 is movably installed in the connecting grooves 210 through a connecting pin 215.

[0029] It should be noted that the connecting grooves 210 in the pushing block 207 are arranged to facilitate the installation of the crank plate 212 and do not hinder the rotation of the crank plate 212, so that the crank plate 212 can adjust the material blocking plate 209.

[0030] In the embodiment, preferably, a moving groove 213 is formed in the crank plate 212, and two positioning pins 211 are fixedly arranged on the two sides of the material blocking plate 209 and movably arranged in the moving groove 213.

[0031] It should be noted that the moving groove 213 is formed in the crank plate 212 to facilitate the connection of the positioning pins 211 at the bottom of the material blocking plate 209, so that the crank plate 212 can drive the material blocking plate 209.

[0032] In the embodiment, preferably, the two positioning pins 211 are arranged at the lower portions of the material blocking plate 209, anti-dropping plates 214 are fixedly arranged at the two ends of the positioning pins 211, the anti-dropping plates 214 abut against the outer side of the crank plate 212, and the bottom corner of the material blocking plate 209 and the upper corner of the pushing block 207 are both arranged as rounded corners.

[0033] It should be noted that the positioning pins 211 are arranged to facilitate the adjustment of the material blocking plate 209, and the positioning pins 211 are arranged at the bottom of the material blocking plate 209, so as not to affect the position adjustment of the material blocking plate 209 in the material conveying device 16, and the rounded corners of the material blocking plate 209 and the pushing block 207 can facilitate the collision lifting adjustment of the material blocking plate 209.

[0034] In the embodiment, preferably, the two stop blocks 208 are clamped on the two sides of the receiving disc 204, the upper end of the material blocking plate 209 movably arranged in the material conveying device 16, the bottom of the material blocking plate 209 abuts against the upper surface of the pushing block 207, a positioning shaft seat 216 is fixedly arranged on the upper surface of the positioning base plate 1, and one end of the lead screw 206 is movably connected in the positioning shaft seat 216.

[0035] It should be noted that the stopper 208 is clamped on both sides of the receiving tray 204, so that the lead screw 206 can drive the receiving tray 204 to adjust the position, so that the receiving tray 204 can be moved to the lower part of the robot mechanism, facilitating precise grabbing, and the positioning shaft seat 216 is set to support and install the lead screw 206, and keep the stability of the lead screw 206.

[0036] In the embodiment, preferably, a plurality of support columns 17 are fixedly arranged on the positioning base plate 1, and the detection table 3, the qualified tray 4 and the waste tray 5 are respectively installed on the support columns 17.

[0037] It should be noted that the support column 17 is used to fix and install the detection table 3, the qualified tray 4 and the waste tray 5, so as to facilitate the detection and storage of the materials.

[0038] In the embodiment, preferably, the robot mechanism comprises a base 6 fixedly installed on the positioning base plate 1, a first mechanical arm 7 movably connected to the base 6, a second mechanical arm 8 movably connected to the upper end of the first mechanical arm 7, a third mechanical arm 9 movably connected to the front end of the second mechanical arm 8, a fourth mechanical arm 10 movably connected to the front end of the third mechanical arm 9, and a pneumatic suction rod 11 installed at the end of the fourth mechanical arm 10.

[0039] It should be noted that the robot mechanism is supported and installed by the base 6, and the adjustment and control are completed by the first mechanical arm 7, the second mechanical arm 8, the third mechanical arm 9, the fourth mechanical arm 10 and the pneumatic suction rod 11, so that the pneumatic suction rod 11 can grab the materials.

[0040] In the embodiment, preferably, a stand column 12 is fixedly installed on one side of the positioning base plate 1, a cross beam 13 is welded to the top end of the stand column 12, an industrial high-definition camera 14 is fixedly installed on the cross beam 13, a reinforcing plate 15 is welded between the stand column 12 and the cross beam 13, a support plate 18 is welded to one side of the stand column 12, and a material feeder 16 is fixedly installed on the support plate 18.

[0041] It should be noted that the industrial high-definition camera 14 is fixedly installed by the setting of the stand column 12 and the cross beam 13, so that the industrial high-definition camera 14 can shoot the materials, realize positioning, grabbing and detecting the materials, the setting of the reinforcing plate 15 facilitates to improve the support strength between the stand column 12 and the cross beam 13, and the setting of the support plate 18 facilitates to fixedly support the material feeder 16, and keep the stability of the material feeder 16.

[0042] The specific operation steps of the application are as follows:

[0043] In use, the material is conveyed through the feeder 16, and when conveying the material, the servo motor 205 in the linkage mechanism 2 outputs power, and the servo motor 205 drives the push block 207 to move through the lead screw 206, and the stop block 208 on the push block 207 is clamped on both sides of the receiving disc 204, so that the receiving disc 204 moves to the lower part of the feeder 16, at this time, the push block 207 supports the blocking plate 209, and the connecting of the crank plate 212 makes the blocking plate 209 can descend in the inside of the feeder 16, so that the blocked material can fall into the inside of the receiving disc 204, then the servo motor 205 drives the receiving disc 204 to move to the center of the robot mechanism through the lead screw 206, and the round corner on the corner of the push block 207 and the stop block 208 is convenient to realize the collision, so that the stop block 208 moves to the upper part of the push block 207 under the action of the crank plate 212, realizes re-entering into the inside of the feeder 16, realizes blocking the material;

[0044] When the receiving disc 204 moves to the center of the robot mechanism, the industrial high-definition camera 14 on the stand column 12 and the cross beam 13 shoots the position to realize the positioning of the material, then the robot mechanism realizes the adsorption and grabbing of the material, and the robot mechanism drives the material to adjust the position through the base 6, the first mechanical arm 7, the second mechanical arm 8, the third mechanical arm 9, the fourth mechanical arm 10 and the air pressure adsorption rod 11, places the material on the detection table 3, and then detects whether the material has scratches and other defects through the industrial high-definition camera 14, and then adsorbs and grabs the qualified material into the inside of the qualified disc 4 or adsorbs and grabs the unqualified material into the inside of the waste disc 5, completes the sorting treatment of the material.

[0045] Although the embodiments of the present application have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and modifications can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A visual recognition and grabbing device for unordered sorting of materials, comprising a positioning base plate (1), characterized in that: The positioning base plate (1) is provided with a linkage mechanism (2), and the positioning base plate (1) is also provided with a detection table (3), a qualified tray (4), a waste tray (5), an industrial high-definition camera (14), a material feeder (16) and a robot mechanism; The linkage mechanism (2) comprises a moving platform (201), a plurality of installation grooves (202) are formed in the moving platform (201), roller shafts (203) are movably installed in the installation grooves (202), a material receiving disc (204) is arranged on the moving platform (201) and covers the upper portions of the roller shafts (203), a servo motor (205) is arranged in the linkage mechanism (2), a lead screw (206) is connected to the output end of the servo motor (205), a pushing block (207) is connected to the lead screw (206), two stop blocks (208) are arranged on the pushing block (207), and a material blocking plate (209) is arranged in the material feeder (16) and connected to the pushing block (207). 2.The visual identification and grabbing device for material disorder sorting according to claim 1, characterized in that: Two connecting grooves (210) are formed in the pushing block (207), and a crank plate (212) is installed in the connecting grooves (210) through a connecting pin (215). 3.The visual identification and grabbing device for material disorder sorting according to claim 2, characterized in that: A moving groove (213) is formed in the crank plate (212), and positioning pins (211) are fixedly arranged on the two sides of the material blocking plate (209) and movably arranged in the moving groove (213).

4. The visual identification and grabbing device for disordered sorting of materials according to claim 3, characterized in that: The two positioning pins (211) are arranged at the lower portion of the material blocking plate (209), anti-dropping plates (214) are fixedly arranged at the two ends of the positioning pins (211), the anti-dropping plates (214) are arranged on the outer side of the crank plate (212), and the bottom corner of the material blocking plate (209) and the upper corner of the pushing block (207) are both arranged as rounded corners. 5.The visual identification and grabbing device for material disorder sorting according to claim 1, characterized in that: The two stop blocks (208) are clamped on the two sides of the material receiving disc (204), the upper end of the material blocking plate (209) is movably arranged in the material feeder (16), the bottom of the material blocking plate (209) is arranged on the upper surface of the pushing block (207), a positioning shaft seat (216) is fixedly arranged on the upper surface of the positioning base plate (1), and one end of the lead screw (206) is movably connected to the inside of the positioning shaft seat (216). 6.The visual identification and grabbing device for material disorder sorting according to claim 1, characterized in that: A plurality of supporting columns (17) are fixedly arranged on the positioning base plate (1), and the detection table (3), the qualified tray (4) and the waste tray (5) are respectively arranged on the supporting columns (17). 7.The visual identification and grabbing device for material disorder sorting according to claim 1, characterized in that: The robot mechanism comprises a base (6) fixedly arranged on the positioning base plate (1), a first mechanical arm (7) movably connected to the base (6), a second mechanical arm (8) movably connected to the upper end of the first mechanical arm (7), a third mechanical arm (9) movably connected to the front end of the second mechanical arm (8), a fourth mechanical arm (10) movably connected to the front end of the third mechanical arm (9), and a pneumatic suction rod (11) arranged at the end of the fourth mechanical arm (10). 8.The visual identification and grabbing device for material disorder sorting according to claim 1, characterized in that: One side of the positioning substrate (1) is fixedly provided with a column (12), the top end of the column (12) is welded with a crossbeam (13), the industrial high-definition camera (14) is fixedly installed on the crossbeam (13), the column (12) and the crossbeam (13) are welded with a reinforcing plate (15), one side of the column (12) is welded with a support plate (18), and the feeder (16) is fixedly installed on the support plate (18).

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