A carrying robot with accurate identification and sorting

Abstract

The utility model discloses a kind of handling robots with accurate identification sorting, specifically related to sorting robot technical field, including base, base top is fixedly connected with mechanical arm, one end of mechanical arm is fixedly connected with fixed seat one, fixed seat one bottom is provided with connecting column, connecting column bottom end is provided with antiskid clamping mechanism;Antiskid clamping mechanism includes fixed seat two, fixed seat two upper surface is fixedly connected with connecting column bottom end, two visual camera one are fixedly connected in fixed seat two inner side.The utility model utilizes jaw and multiple sharp cone of bend angle surface to increase contact point with soft article, disperses gripping force to small contact point to increase friction coefficient, reduce pressure, to reduce gripping force, avoid deformation and protect article integrity, realize accurate identification and control by the aid of multiple visual camera one and two, cooperate connecting column and positioning disc double positioning to mechanical arm, guarantee camera installation stability and soft article identification accurate.

Description

Technical Field

[0001] This utility model relates to the field of sorting robot technology, and more specifically, to a handling robot with accurate identification and sorting capabilities. Background Technology

[0002] Modern handling robots, equipped with visual recognition systems, can quickly capture the shape, color, barcode, and other features of goods. When goods enter the sorting area, high-definition cameras rapidly collect image data and transmit it to the central processor. Using deep learning algorithms, the data is compared with a pre-set goods database to accurately identify the goods category and destination. When grasping soft objects, the visual recognition system can provide real-time feedback on the object's shape and position information, guiding the gripper to make precise grasping.

[0003] In practical use, when identifying, gripping and sorting soft objects, traditional gripping and adsorption methods are difficult to grasp. It takes a large gripping force to position the soft object, but this will cause excessive deformation of the soft object, which will lead to damage to the object and affect the identification and sorting efficiency. Utility Model Content

[0004] In order to overcome the above-mentioned defects of the prior art, the present invention provides a handling robot with accurate identification and sorting capabilities to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: A handling robot with precise identification and sorting capabilities includes a base. A robotic arm is fixedly connected to the top of the base. One end of the robotic arm is fixedly connected to a fixed seat. A connecting column is provided at the bottom of the fixed seat, and an anti-slip clamping mechanism is provided at the bottom end of the connecting column. The anti-slip clamping mechanism includes a second fixed seat. The upper surface of the second fixed seat is fixedly connected to the bottom end of the connecting column. Two vision cameras are fixedly connected to the inner side of the second fixed seat. A positioning ring is fixedly connected to the outer side of the connecting column. Multiple electric cylinders are hinged to the outer side of the positioning ring. A bracket is fixedly connected to one end of the moving cylinder. A support is rotatably connected to the inner side of the bracket. A connecting plate is fixedly connected to one side of the support. A gripper is fixedly connected to one side of the connecting plate. A bend is fixedly connected to the end of the gripper. Multiple sharp cones are fixedly connected to the outer side of the gripper and the bend. A support is fixedly connected to the bottom end of the connecting plate. A support rod is rotatably connected to the outer side of the support. One end of the support rod is fixedly connected to the outer side of the fixed support. A second vision camera is fixedly connected to the inner side of the support rod. A positioning and recognition mechanism is provided on the inner side of the fixed support and the connecting column.

[0006] By adopting the above technical solution: using multiple electric cylinders to push the connecting plate to deflect with the rotation of support two and support rod as the fulcrum, and combining multiple pointed cones to make multi-point contact with the surface of soft objects, multiple grippers and bends can achieve stable clamping and sorting of soft objects with a small clamping force.

[0007] As a further description of the above technical solution: the positioning and identification mechanism includes a threaded hole and a positioning groove, both of which are concentrically distributed on the inner side of a fixed base. A spring is fixedly connected to the inner side of the fixed base, and a push plate is fixedly connected to one end of the spring. The outer side of the push plate is slidably connected to the inner side of the fixed base. An insertion rod is fixedly connected to the inner side of the push plate, and one end of the insertion rod passes through the inner side of the fixed base and extends to the inner side of the positioning groove. A positioning disk is fixedly connected to the outer side of the connecting column, and the outer side of the positioning disk is inserted into the inner side of the positioning groove. The top end of the connecting column is threadedly connected to the inner side of the threaded hole. An insertion hole is opened on the outer side of the positioning disk, and one end of the insertion rod is inserted into the inner side of the insertion hole.

[0008] By adopting the above technical solution: using the positioning plate and connecting column to achieve dual positioning of the inner side of the fixed base, and combining the insertion of the plug rod to the plug hole, the positioning of vision camera one and vision camera two is kept stable, causing vision camera one and vision camera two to shake during operation.

[0009] The technical effects and advantages of this utility model are as follows: 1. By setting up an anti-slip clamping mechanism, compared with the existing technology, the multiple pointed cones set on the gripper and the curved surface can increase the contact points with soft objects. The clamping force is distributed to countless tiny contact points, increasing the effective friction coefficient. Each point only bears a very small pressure, which increases static friction and reduces clamping force, avoids deformation of soft objects, and protects the integrity of soft objects. 2. By setting up a positioning and recognition mechanism, compared with the existing technology, multiple vision cameras (first and second) are used to achieve accurate recognition and control of soft object positioning and clamping. In addition, the connecting column and positioning plate provide dual positioning for the robotic arm, ensuring the stability of the installation of vision cameras (first and second) and ensuring the accuracy of soft object recognition. Attached Figure Description

[0010] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0011] Figure 2 This is a partial structural diagram of the connection between the connecting column and the fixing seat of this utility model.

[0012] Figure 3 This is a partial schematic diagram of the connection between the gripper and the support of this utility model.

[0013] Figure 4This is a schematic cross-sectional view of the fixing seat of this utility model.

[0014] Figure 5 This is a partial schematic diagram of the connection between the fixing seat and the support rod of this utility model.

[0015] Figure 6 For the present utility model Figure 3 Enlarged diagram of A in the middle.

[0016] Figure 7 For the present utility model Figure 3 Enlarged diagram of B in the middle.

[0017] The attached diagram is labeled as follows: 1. Base; 2. Robotic arm; 3. Fixed seat one; 4. Connecting column; 5. Fixed seat two; 6. Positioning ring; 7. Electric cylinder; 8. Bracket; 9. Support one; 10. Connecting plate; 11. Gripper; 12. Bend; 13. Cone; 14. Support two; 15. Support rod; 16. Threaded hole; 17. Positioning groove; 18. Spring; 19. Push plate; 20. Insert rod; 21. Positioning plate; 22. Insertion hole; 23. Vision camera one; 24. Vision camera two. Detailed Implementation

[0018] 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.

[0019] The embodiments disclosed in this application are as follows: Figures 1-7The illustrated material is a handling robot with precise identification and sorting capabilities, comprising a base 1, a robotic arm 2 fixedly connected to the top of the base 1, a fixed seat 3 fixedly connected to one end of the robotic arm 2, a connecting column 4 at the bottom of the fixed seat 3, and an anti-slip gripping mechanism at the bottom of the connecting column 4; the anti-slip gripping mechanism includes a second fixed seat 5, the upper surface of which is fixedly connected to the bottom of the connecting column 4, two vision cameras 23 fixedly connected to the inner side of the second fixed seat 5, a positioning ring 6 fixedly connected to the outer side of the connecting column 4, multiple electric cylinders 7 hinged to the outer side of the positioning ring 6, a bracket 8 fixedly connected to one end of each electric cylinder 7, a support 9 rotatably connected to the inner side of the bracket 8, a connecting plate 10 fixedly connected to one side of the support 9, and a connecting plate 10 fixedly connected to one side of the connecting plate 10. The device has a gripper 11, with a bend 12 fixedly connected to the end of the gripper 11. Multiple sharp cones 13 are fixedly connected to the outside of the gripper 11 and the bend 12. A support 2 14 is fixedly connected to the bottom of the connecting plate 10. A support rod 15 is rotatably connected to the outside of the support 2 14. One end of the support rod 15 is fixedly connected to the outside of the fixed seat 2 5. A vision camera 24 is fixedly connected to the inside of the support rod 15. A positioning and recognition mechanism is set inside the fixed seat 1 3 and the connecting column 4. The multiple grippers 11 and the bend 12, together with the multiple sharp cones 13, achieve multi-point contact with the surface of the soft object, improve the friction of the gripper 11 on the soft object, prevent the multiple grippers 11 from over-gripping and deforming the soft object, and maintain the stability and reliability of grasping the soft object.

[0020] Reference Figure 1 , Figure 4 and Figure 5 As shown, the positioning and identification mechanism includes a threaded hole 16 and a positioning groove 17. The threaded hole 16 and the positioning groove 17 are concentrically distributed inside the fixed base 3. A spring 18 is fixedly connected to the inside of the fixed base 3. A push plate 19 is fixedly connected to one end of the spring 18. The outer side of the push plate 19 is slidably connected to the inner side of the fixed base 3. An insertion rod 20 is fixedly connected to the inner side of the push plate 19. One end of the insertion rod 20 passes through the inner side of the fixed base 3 and extends to the inner side of the positioning groove 17. A positioning plate 21 is fixedly connected to the outer side of the connecting column 4. The outer side of the positioning plate 21 is connected to the positioning groove 17. The inner side of the slot 17 is inserted, and the top of the connecting post 4 is threaded to the inner side of the threaded hole 16. The outer side of the positioning plate 21 has an insertion hole 22, and the inner side of the insertion hole 22 is inserted into one end of the insertion rod 20. The insertion rod 20 is used to connect and fasten the fixed seat 3 and the connecting post 4. The positioning plate 21 and the connecting post 4 are used to achieve dual positioning of the threaded hole 16 and the positioning slot 17 on the inner side of the fixed seat 3, ensuring the stable operation and recognition of the two vision cameras 23 and the multiple vision cameras 24, and maintaining the accuracy of identification and sorting of soft objects.

[0021] The working principle of this utility model is as follows: When identifying and sorting plush objects, the robotic arm 2 first moves the fixed base 3, connecting column 4, and fixed base 5 to one side of the soft object. The two vision cameras 23 inside the fixed base 5 identify and locate the soft object. Then, the robotic arm 2 is activated to move multiple grippers 11 on the outside of the fixed base 5 to the vicinity of the soft object. Then, multiple electric cylinders 7 on the outside of the positioning ring 6, together with the bracket 8 and support 9, push the connecting plate 10 and one end of the grippers 11. At the same time, the support rod 15 provides rotational support for the support 14 and the connecting plate 10, so that the grippers 11 can deflect with the support rod 15 as the fulcrum. This allows multiple grippers 11 and the bend 12 to clamp and grasp the soft object from all sides. The pointed cone 13 increases the contact points with the surface of soft objects, allowing multiple grippers 11 and bends 12 to stably hold the soft objects. Simultaneously, vision cameras 24 on the inner sides of multiple support rods 15 visually observe the corresponding grippers 11, ensuring sufficient contact and gripping of the soft object surface. This prevents excessive gripping force and deformation of the soft object by the grippers 11 and bends 12, avoiding slippage and drop during identification and sorting. Then, connecting posts 4 and positioning discs 21 provide dual positioning of the threaded holes 16 and positioning grooves 17 on the inner side of the fixing base 3, ensuring stability of the fixing base 3, connecting posts 4, and fixing base 5 after installation. This also ensures stability during movement of the two vision cameras 23 and multiple vision cameras 24, achieving accurate visual recognition.

[0022] All contents not described in detail in the specification are existing technologies known to those skilled in the art, and the model parameters of each electrical appliance are not specifically limited. Conventional equipment can be used. Both vision camera one and vision camera two can be Basler ace 2. Electrical control components not mentioned in this technical solution are existing technologies and are therefore not shown in the figure and will not be described here.

[0023] 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 handling robot with precise identification and sorting capabilities, comprising a base (1), characterized in that: The base (1) is fixedly connected to the top of the mechanical arm (2), and one end of the mechanical arm (2) is fixedly connected to the fixed seat (3). The bottom of the fixed seat (3) is provided with a connecting column (4), and the bottom end of the connecting column (4) is provided with an anti-slip clamping mechanism. The anti-slip clamping mechanism includes a fixed base two (5), the upper surface of the fixed base two (5) is fixedly connected to the bottom end of the connecting column (4), two visual cameras one (23) are fixedly connected to the inner side of the fixed base two (5), a positioning ring (6) is fixedly connected to the outer side of the connecting column (4), and multiple electric cylinders (7) are hinged to the outer side of the positioning ring (6). A bracket (8) is fixedly connected to one end of the electric cylinder (7), and a support one (9) is rotatably connected to the inner side of the bracket (8). The fixing seat (3) and the connecting column (4) are provided with positioning and identification mechanisms.

2. The handling robot with precise identification and sorting capabilities according to claim 1, characterized in that: A connecting plate (10) is fixedly connected to one side of the support (9), a clamp (11) is fixedly connected to one side of the connecting plate (10), a bend (12) is fixedly connected to the end of the clamp (11), and multiple sharp cones (13) are fixedly connected to the outside of the clamp (11) and the bend (12).

3. The handling robot with precise identification and sorting capabilities according to claim 2, characterized in that: The bottom end of the connecting plate (10) is fixedly connected to a support second (14), and a support rod (15) is rotatably connected to the outside of the support second (14). One end of the support rod (15) is fixedly connected to the outside of the fixed seat second (5), and a visual camera second (24) is fixedly connected to the inside of the support rod (15).

4. The handling robot with precise identification and sorting capabilities according to claim 1, characterized in that: The positioning and identification mechanism includes a threaded hole (16) and a positioning groove (17). The threaded hole (16) and the positioning groove (17) are concentrically distributed on the inner side of the fixed seat (3). A spring (18) is fixedly connected to the inner side of the fixed seat (3). A push plate (19) is fixedly connected to one end of the spring (18).

5. The handling robot with precise identification and sorting capabilities according to claim 4, characterized in that: The outer side of the push plate (19) is slidably connected to the inner side of the fixed seat (3), and the inner side of the push plate (19) is fixedly connected to the insertion rod (20). One end of the insertion rod (20) passes through the inner side of the fixed seat (3) and extends to the inner side of the positioning groove (17).

6. The handling robot with precise identification and sorting capabilities according to claim 1, characterized in that: A positioning plate (21) is fixedly connected to the outside of the connecting column (4). The outside of the positioning plate (21) is inserted into the inside of the positioning groove (17). The top of the connecting column (4) is threadedly connected to the inside of the threaded hole (16).

7. The handling robot with precise identification and sorting capabilities according to claim 6, characterized in that: The positioning disk (21) has an insertion hole (22) on its outer side, and the inner side of the insertion hole (22) is inserted into one end of the insertion rod (20).

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