Material taking manipulator with visual camera

Abstract

The material taking mechanical arm with the visual camera comprises an SCARA robot, a material clamping mechanism and a follow-up lifting camera mechanism, the SCARA robot comprises a swing arm shell and an output shaft, and the output shaft can do lifting motion and rotating motion. The following lifting camera mechanism comprises a Z-axis sliding base, a camera installation frame connected to the Z-axis sliding base in a sliding mode and a visual camera installed on the camera installation frame, and the camera installation frame is rotationally connected with the top end of the output shaft. When the output shaft drives the material clamping mechanism to ascend and descend, the camera mounting frame synchronously ascends and descends along the Z-axis sliding base along with the output shaft, so that the visual camera is driven to ascend and descend, the visual camera shoots the material taking condition, the situation that the camera is collided is avoided, and the height of the robot does not need to be increased. When the output shaft drives the clamping mechanism to rotate, the camera mounting frame cannot rotate along with the output shaft, the problem that a connecting line is bent and wound due to the rotating motion of a visual camera is solved, and the applicability is high.

Description

TECHNICAL FIELD

[0001] The utility model relates to a material taking manipulator technical field especially a material taking manipulator with visual camera. BACKGROUND

[0002] The appearance of the material taking manipulator realizes the automation of material taking and improves the material taking speed. When the existing material taking manipulator needs to install a visual camera, the visual camera is installed at a fixed height, and if the installation height is too low, collision may occur during material taking, and if the installation height is a little higher, the robot base needs to be increased in height, resulting in an increase in the overall height of the equipment. SUMMARY

[0003] The utility model wants to solve the problem of providing a material taking manipulator with a visual camera, without increasing the height of the robot, and without the problem of bending and winding of the camera connection line, improving the applicability.

[0004] To solve the above technical problems, the utility model provides a material taking manipulator with a visual camera, which comprises a SCARA robot, a material clamping mechanism, and a lifting camera mechanism.

[0005] Preferably, the camera mounting rack comprises a Z-axis sliding plate slidingly connected to the Z-axis sliding seat, and a connecting cross plate fixedly connected to the top end of the Z-axis sliding plate.

[0006] Preferably, the bottom end of the Z-axis sliding plate is fixedly connected with a lamp holder, and the lamp holder is provided with a ring-shaped light source.

[0007] The utility model provides a material taking manipulator with a visual camera, when the output shaft drives the material clamping mechanism to move up and down, the camera mounting rack will move up and down along the Z-axis sliding seat synchronously with the output shaft, thereby driving the visual camera to move up and down, so that the visual camera can take close-up shots of the material taking condition, without the camera being hit, and without the need to increase the height of the robot. BRIEF DESCRIPTION OF DRAWINGS

[0008] Fig. 1 The appearance structure schematic diagram of the utility model is exemplified.

[0009] Fig. 2 The cross-sectional view of the utility model is exemplified.

[0010] The reference signs are explained as follows: SCARA robot 1, swing arm shell 10, output shaft 11, lifting camera mechanism 2, Z-axis slide 20, camera mounting frame 21, Z-axis slide plate 210, connecting cross plate 211, visual camera 22, lamp holder 3, ring light source 4. DETAILED DESCRIPTION

[0011] To make the purpose, technical scheme and advantages of the embodiments of the present disclosure clearer, the technical scheme of the embodiments of the present disclosure will be described clearly and completely below in conjunction with the drawings of the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, rather than all the embodiments.

[0012] Based on the described embodiments of the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present disclosure.

[0013] Reference Figs. 1-2 .

[0014] The utility model provides a kind of material taking manipulator with visual camera, include SCARA robot 1, clamp mechanism, lifting camera mechanism 2, SCARA robot 1 include swing arm shell 10, output shaft 11 being set on swing arm shell 10, output shaft 11 can be lifted and rotated motion, clamp mechanism is installed at the bottom end of output shaft 11, lifting camera mechanism 2 includes the Z-axis slide 20 being fixedly connected in swing arm shell 10 side, camera mounting frame 21 being slidably connected on Z-axis slide 20, visual camera 22 being installed on camera mounting frame 21, camera mounting frame 21 is rotatably connected with the top end of output shaft 11.

[0015] Its working principle is that when output shaft 11 drives clamp mechanism to lift, camera mounting frame 21 will be lifted along with output shaft 11 along Z-axis slide 20 synchronously, to drive visual camera 22 to lift, so that visual camera 22 is close to the material taking state and is photographed, without the situation that camera is collided, and without increasing the height of robot;When output shaft 11 drives clamp mechanism to rotate, camera mounting frame 21 will not rotate with output shaft 11, avoid the problem that visual camera 22 rotates and leads to connecting line bending and winding, strong applicability.

[0016] Based on the above embodiment, the camera mounting frame 21 comprises a Z-axis sliding plate 210 slidably connected to the Z-axis sliding seat 20, a connecting horizontal plate 211 fixedly connected to the top end of the Z-axis sliding plate 210, an axle hole provided through the connecting horizontal plate 211, and the axle hole and the output shaft 11 are connected through a bearing. When the output shaft 11 performs the lifting movement, the camera mounting frame 21 will lift along with the output shaft 11; when the output shaft 11 performs the rotating movement, the camera mounting frame 21 will not rotate along with the output shaft 11.

[0017] Based on the above embodiment, the bottom end of the Z-axis sliding plate 210 is fixedly connected with a lamp holder 3, and the annular light source 4 is installed on the lamp holder 3, so that the taking condition can be illuminated, and the shooting definition of the visual camera 22 is improved.

[0018] The above embodiments only describe the preferred embodiments of the present application, and do not limit the scope of the present application. Without departing from the design spirit of the present application, various modifications and improvements of the technical solutions of the present application made by ordinary engineering technicians in the art shall fall within the protection scope determined by the claims of the present application.

Claims

1. A material handling robot with a vision camera, characterized in that, The device includes a SCARA robot, a clamping mechanism, and a lifting camera mechanism. The SCARA robot includes a swing arm housing and an output shaft mounted on the swing arm housing. The output shaft is capable of lifting and rotating. The clamping mechanism is mounted on the bottom end of the output shaft. The lifting camera mechanism includes a Z-axis slide fixedly connected to one side of the swing arm housing, a camera mounting bracket slidably connected to the Z-axis slide, and a vision camera mounted on the camera mounting bracket. The camera mounting bracket is rotatably connected to the top end of the output shaft.

2. The material handling robot with a vision camera according to claim 1, characterized in that, The camera mounting bracket includes a Z-axis sliding plate slidably connected to the Z-axis sliding block and a connecting horizontal plate fixedly connected to the top of the Z-axis sliding plate. A shaft hole is provided through the connecting horizontal plate, and the shaft hole and the output shaft are connected by a bearing.

3. A material handling robot with a vision camera according to claim 2, characterized in that, A lamp holder is fixedly connected to the bottom end of the Z-axis sliding plate, and a ring light source is installed on the lamp holder.

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