Workpiece picking robot

Abstract

The utility model discloses a workpiece picking robot which comprises a mechanical claw and a chassis, two pairs of Mecanum wheels are rotatably installed on the chassis, the workpiece picking robot is characterized in that an electric rotating base is installed on the chassis, the mechanical claw is located above the chassis, and a mechanical supporting structure is arranged between the mechanical claw and the electric rotating base; a driving structure is arranged at the bottom of the chassis, an operation equipment box, a display screen and a main control circuit board are installed on the chassis, the robot can quickly and accurately recognize different kinds of workpieces and automatically adjust grabbing strategies, manual intervention is not needed, and the working efficiency is improved. The intelligent level of workpiece picking operation is greatly improved, and the requirements of modern industrial production for an efficient and flexible production mode are met.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, concretely is a workpiece picking robot. BACKGROUND

[0002] In modern factory, the carrying and picking of workpieces are important links on the production line. The traditional manual picking mode is not only inefficient, but also prone to errors, and there are certain safety hazards. Therefore, the development of a robot capable of automatically identifying, accurately picking and carrying workpieces is of great significance for improving production efficiency, reducing labor cost and ensuring worker safety. Compared with large mechanical arms, the project shows significant advantages in industrial automation field. The robot has compact structure and high flexibility, can easily adapt to narrow or complex working environment, and realizes accurate positioning and rapid grabbing of workpieces. SUMMARY

[0003] In view of the deficiencies of the prior art, the utility model provides a workpiece picking robot, solves the problems of low efficiency, easy error and big safety hazard of the existing traditional worker picking, and makes the factory automatic production line run more smoothly.

[0004] To achieve the above purpose, the utility model realizes the following technical scheme: a workpiece picking robot, comprising a mechanical claw and a vehicle chassis, two pairs of Mecanum wheels are rotatably installed on the vehicle chassis, characterized in that an electric rotating base is installed on the vehicle chassis, a mechanical support structure is arranged between the mechanical claw above the vehicle chassis and the electric rotating base, a driving structure is arranged at the bottom of the vehicle chassis, an operation equipment box, a display screen and a main control circuit board are installed on the vehicle chassis.

[0005] Preferably, the mechanical support structure comprises a lower end electric U-shaped support fixedly installed on the rotating end of the electric rotating base, an upper end electric U-shaped support is installed on the rotating end of the lower end electric U-shaped support, a bearing plate is installed on the rotating end of the upper end electric U-shaped support, and the mechanical claw is installed on the bearing plate.

[0006] Preferably, the driving structure comprises a DC speed reducing motor fixedly installed on the vehicle chassis, a motor shaft coupling is connected to the driving end of the DC speed reducing motor, and one end of the motor shaft coupling is connected to the input end of the Mecanum wheel.

[0007] Preferably, a radar module base is installed on the vehicle chassis, a radar module top base is installed on the radar module base, and a radar module is installed on the radar module top base.

[0008] Preferably, an installation plate is arranged on one side of the vehicle chassis, and a gyroscope is installed on the installation plate.

[0009] Preferably, the openmv camera is installed below the bearing plate.

[0010] The workpiece picking robot has the following beneficial effects:

[0011] The radar module on the ground greatly enhances the environmental perception and path planning ability of the robot. In a complex industrial production environment, the robot can timely and accurately avoid obstacles and move accurately according to the predetermined path, not only improving the work efficiency, but also reducing the probability of equipment damage and production accidents, and ensuring the continuity and stability of the production process. The combination of the camera and the image recognition system endows the robot with strong workpiece recognition and adaptive grabbing capability. The robot can quickly and accurately identify different types of workpieces and automatically adjust the grabbing strategy without human intervention, greatly improving the intelligent level of workpiece picking operation and meeting the needs of modern industrial production for efficient and flexible production mode. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 It is a front view of the utility model.

[0013] Figure 2 It is a right view of the utility model.

[0014] Figure 3 It is a top view of the utility model.

[0015] In the figure: 1, vehicle chassis; 2, mechanical claw; 3, Mecanum wheel; 4, electric rotating base; 5, lower end electric U-shaped support; 6, upper end electric U-shaped support; 7, bearing plate; 8, DC speed reducer motor; 9, motor coupling; 10, operation equipment box; 11, display screen; 12, main control circuit board; 13, radar module base; 14, radar module top seat; 15, radar module; 16, gyroscope; 17, openmv camera. DETAILED DESCRIPTION

[0016] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0017] Please refer to Figure 1The utility model provides a technical scheme: a workpiece pickup robot, including mechanical claw 2 and car chassis 1, two pairs of mecanum wheel 3 are rotationally installed on car chassis 1, it is characterized in that, electric rotating base 4 is installed on car chassis 1, mechanical claw 2 is located the top of car chassis 1 and is equipped with mechanical support structure between electric rotating base 4, the bottom of car chassis 1 is equipped with drive structure, operating equipment box 10 and display screen 11 and main control circuit board 12 are installed on car chassis 1,

[0018] Mechanical claw 1 with workpiece contact surface is equipped with a layer of macromolecular silica gel flexible material, and the macromolecular silica gel flexible material has flexibility and slip resistance, which is used to protect and prevent slipping when grabbing fragile workpieces.

[0019] The use of operating equipment box 10 and main control circuit board 12 in the field of industrial robots belongs to a conventional technical means and is a mature existing device. The power drive system and the electrical control system of the technical scheme adopt operating equipment box 10 and main control circuit board 12. The electrical control system is used to monitor the related parameters of the mechanical claw, and the power drive system is used to drive the mechanical claw and the robot moving mechanism. The electrical control system can also be used to coordinate the work of each component.

[0020] Further, the mechanical support structure includes a lower end electric U-shaped support 5 fixedly installed on the rotating end of the electric rotating base 4, an upper end electric U-shaped support 6 installed on the rotating end of the lower end electric U-shaped support 5, a bearing plate 7 installed on the rotating end of the upper end electric U-shaped support 6, and the mechanical claw 2 installed on the bearing plate 7.

[0021] Further, the drive structure includes a direct-current speed reducer 8 fixedly installed on the car chassis 1, a motor shaft coupling 9 connected to the driving end of the direct-current speed reducer 8, and one end of the motor shaft coupling 9 connected to the input end of the mecanum wheel 3.

[0022] Further, a radar module base 13 is installed on the car chassis 1, a radar module top base 14 is installed on the radar module base 13, and a radar module 15 is installed on the radar module top base 14.

[0023] The radar module 15 adopts high-frequency radar wave emission and reception technology to realize the functions of obstacle avoidance and positioning navigation. The obstacle avoidance function is realized by detecting obstacles and planning a path. The positioning navigation function is completed with the help of an external positioning signal source.

[0024] Further, a mounting plate is provided on one side of the car chassis 1, and a gyroscope 16 is installed on the mounting plate.

[0025] Further, an openmv camera 17 is installed below the bearing plate 7.

[0026] The openmv camera 17 is connected with an image recognition processing system, which is used to detect the workpiece and identify the type, so as to control the grabbing force and the grabbing direction of the mechanical claw. The image recognition processing system can analyze various workpiece characteristics, and the control includes adjusting the grabbing force according to the workpiece texture and determining the grabbing direction according to the shape.

[0027] By the skilled in the art, the parts in the case are connected in turn, and the specific connection and operation sequence should be referred to the working principle, and the detailed connection means is the public technical knowledge in the art, and the working principle and process are mainly introduced below.

[0028] Embodiment: First, the main structure of the mechanical claw 1 is installed on the arm end of the robot upper end electric U-shaped support 6 through the bearing plate 7, to ensure the firmness and coaxiality of the connection, so as to ensure the stability and accuracy of the mechanical claw 1 in the movement process. Then, according to the accurate size and shape requirements, the high-molecular silicone flexible material is pasted on the surface of the mechanical claw 1 in contact with the workpiece. In the pasting process, special pasting process and tool are adopted to ensure that the material is closely attached to the surface of the mechanical claw 1 without bubbles and wrinkles. After the pasting is completed, then the opening and closing action of the mechanical claw 1 is debugged through the control system of the robot. Different grabbing force parameters are set, the grabbing effect of the mechanical claw 1 under various forces is tested, and the size of the grabbing force is monitored in real time by using high-precision force sensors, and the driving system of the mechanical claw is fine-tuned according to the test results, so that the grabbing force can be accurately controlled. At the same time, check the anti-skid and protection effect of the high-molecular silicone flexible material under different grabbing forces, to ensure that the workpiece can be effectively protected and prevented from slipping when grabbing the fragile workpiece.

[0029] It should be noted that in this text, relational terms such as first and second are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment. Without more limitations, the statement "including a limited element" does not exclude the existence of other identical elements in the process, method, article or equipment including the element.

[0030] Although the embodiments of the present application have been shown and described, it is to be understood that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A workpiece picking robot comprising a mechanical gripper (2) and a chassis (1) on which are mounted two pairs of Mecanum wheels (3), characterized in that, The vehicle chassis (1) is provided with an electric rotating base (4), the mechanical claw (2) is located above the vehicle chassis (1) and is provided with a mechanical support structure between the electric rotating base (4), the bottom of the vehicle chassis (1) is provided with a driving structure, and the vehicle chassis (1) is provided with an operation equipment box (10), a display screen (11) and a main control circuit board (12).

2. The workpiece picking robot of claim 1, wherein, The mechanical support structure comprises a lower end electric U-shaped support (5) fixedly installed on the rotating end of the electric rotating base (4), an upper end electric U-shaped support (6) is installed on the rotating end of the lower end electric U-shaped support (5), a bearing plate (7) is installed on the rotating end of the upper end electric U-shaped support (6), and the mechanical claw (2) is installed on the bearing plate (7).

3. The workpiece picking robot of claim 1, wherein, The driving structure comprises a DC speed reduction motor (8) fixedly installed on the vehicle chassis (1), a motor shaft coupling (9) is connected to the driving end of the DC speed reduction motor (8), and one end of the motor shaft coupling (9) is connected with the input end of the Mecanum wheel (3).

4. The workpiece picking robot of claim 1, wherein, The vehicle chassis (1) is provided with a radar module base (13), the radar module base (13) is provided with a radar module top base (14), and the radar module top base (14) is provided with a radar module (15).

5. The workpiece picking robot of claim 1, wherein, One side of the vehicle chassis (1) is provided with a mounting plate, and the mounting plate is provided with a gyroscope (16).

6. The workpiece picking robot of claim 2, wherein, An openmv camera (17) is installed below the bearing plate (7).

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