Visual positioning and grabbing device of automatic sorting and packing machine based on DELTA manipulator
Patent Information
- Application Number
- CN202522066013.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-25
- Publication Date
- 2026-09-11
- Estimated Expiration
- 2035-09-25
AI Technical Summary
[0002]DELTA机械手的自动分拣装箱机视觉定位抓取装置，其中DELTA机械手的自动分拣装箱机视觉定位会受到光照影响，工业现场的光线变化（如自然光波动、灯光反射）、阴影或反光表面可能导致图像质量下降，影响目标识别精度的问题
1、本实用新型中，通过基于DELTA机械手的自动分拣装箱机视觉定位抓取装置中的视觉补光组件，并且利用控制器控制补光灯进行运转，打开控制器的开关，使得控制器控制补光灯进行运转，进而使补光灯发出光照，随后扳动波纹软管，使波纹软管的一端带动补光灯调整位置，以使的安装支架四周视觉补光组件中的补光灯分别朝向下方的物品，当装置经过视觉定位夹取物品时，补光灯从四周照射以减少物品的阴影，使得视觉定位更精准，从而有益于解决DELTA机械手的自动分拣装箱机视觉定位会受到光照影响，工业现场的光线变化（如自然光波动、灯光反射）、阴影或反光表面可能导致图像质量下降，影响目标识别精度的问题。
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Figure CN224736791U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of positioning and gripping device technology, specifically a visual positioning and gripping device for an automatic sorting and packing machine based on a DELTA robot. Background Technology
[0002] The visual positioning and gripping device of the DELTA robotic arm's automatic sorting and packing machine is affected by lighting. Changes in lighting in the industrial environment (such as natural light fluctuations and lamp reflections), shadows, or reflective surfaces may cause a decrease in image quality and affect the accuracy of target recognition.
[0003] Therefore, a vision-based positioning and gripping device for automated sorting and packing machines based on DELTA robotic arms is needed to improve the above-mentioned problems. Utility Model Content
[0004] The purpose of this invention is to provide a vision positioning and gripping device for an automatic sorting and packing machine based on a DELTA robot, so as to solve the problems mentioned in the background art.
[0005] To achieve the above objectives, this utility model provides the following technical solution: The automatic sorting and packing machine vision positioning and gripping device based on the DELTA robot includes a mounting bracket. A vision supplementary lighting component is installed on the outer wall of the mounting bracket. An electrically controlled cylinder is installed on the outer wall of the mounting bracket. A horizontal push bracket is installed at one end of the electrically controlled cylinder. A fixing rod is installed on the opposite outer wall of the horizontal push bracket. A universal ball joint is installed on the outer wall of the fixing rod. A positioning gripper is rotatably connected to one end of the universal ball joint.
[0006] As a preferred embodiment of this utility model, the visual supplementary lighting component includes a controller and a fixing block. The controller is installed on the side wall of the mounting bracket, and the fixing block is plugged into and installed on the outer wall of the mounting bracket. A threaded limiting rod is threadedly connected to the outer wall of the fixing block, and a corrugated hose is installed on the outer wall of the fixing block. A mounting base is installed at one end of the corrugated hose, and a supplementary light is provided on the outer wall of the mounting base.
[0007] As a preferred embodiment of this utility model, the controller is connected to a supplementary light via a wire, and the connection method is an electrical connection.
[0008] As a preferred embodiment of this utility model, the electrically controlled cylinder is provided in multiple sets and is located on the outer wall of the mounting bracket, and the universal ball joint rod is provided in two sets and is located on the outer wall opposite to the fixed rod.
[0009] As a preferred embodiment of this utility model, the fixing blocks are provided in multiple sets and are respectively located on the outer wall of the mounting bracket, and one end of the threaded limiting rod is attached to the outer wall of the mounting bracket.
[0010] As a preferred embodiment of this utility model, the corrugated hose is located on one side of the mounting bracket, and the supplementary light is located above the positioning gripper.
[0011] Compared with the prior art, the beneficial effects of this utility model are: 1. In this utility model, a visual supplementary lighting component is used in the visual positioning and gripping device of an automatic sorting and packing machine based on a DELTA robot. The supplementary lights are controlled by a controller. When the controller is turned on, it controls the operation of the supplementary lights, which then emit light. Subsequently, the corrugated hose is moved so that one end of the corrugated hose moves the supplementary lights to adjust their position, so that the supplementary lights in the visual supplementary lighting components around the mounting bracket are facing the items below. When the device passes through the visual positioning and gripping of the items, the supplementary lights illuminate from all sides to reduce the shadows on the items, making the visual positioning more accurate. This helps to solve the problem that the visual positioning of the automatic sorting and packing machine based on the DELTA robot is affected by lighting. Changes in light in the industrial environment (such as natural light fluctuations, lamp reflections), shadows, or reflective surfaces may cause a decrease in image quality and affect the accuracy of target recognition. Attached Figure Description
[0012] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a top view of the structure of this utility model; Figure 3 This utility model Figure 1 An enlarged schematic diagram of the A structure.
[0013] In the diagram: 1. Mounting bracket; 2. Visual supplementary lighting assembly; 201. Controller; 202. Fixing block; 203. Threaded limit rod; 204. Corrugated flexible hose; 205. Mounting base; 206. Supplementary light; 3. Electric cylinder; 4. Horizontal push bracket; 5. Fixing rod; 6. Universal ball joint rod; 7. Positioning gripper. Detailed Implementation
[0014] The technical solutions of the present utility model will be clearly and completely described below with reference to the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the protection scope of the present utility model.
[0015] For examples, please refer to Figure 1-3This utility model provides a technical solution: The automatic sorting and packing machine vision positioning and gripping device based on DELTA robot includes a mounting bracket 1, a vision supplementary lighting component 2 mounted on the outer wall of the mounting bracket 1, an electric control cylinder 3 mounted on the outer wall of the mounting bracket 1, a horizontal push bracket 4 mounted on one end of the electric control cylinder 3, a fixing rod 5 mounted on the opposite outer wall of the horizontal push bracket 4, a universal ball joint rod 6 mounted on the outer wall of the fixing rod 5, and a positioning gripper 7 rotatably connected to one end of the universal ball joint rod 6.
[0016] In this embodiment, please refer to Figure 1 , Figure 2 and Figure 3 The visual supplementary lighting component 2 includes a controller 201 and a fixing block 202. The controller 201 is installed on the side wall of the mounting bracket 1, and the fixing block 202 is plugged into and installed on the outer wall of the mounting bracket 1. A threaded limit rod 203 is threadedly connected to the outer wall of the fixing block 202. A corrugated hose 204 is installed on the outer wall of the fixing block 202. A mounting base 205 is installed at one end of the corrugated hose 204, and a supplementary light 206 is provided on the outer wall of the mounting base 205.
[0017] Furthermore, the controller 201 is electrically connected to the supplementary light 206 via a wire, which powers the device and causes the controller 201 to control the supplementary light 206 to operate. Multiple sets of electrically controlled cylinders 3 are located on the outer wall of the mounting bracket 1. Two sets of universal ball joint rods 6 are located on the opposite outer walls of the fixed rods 5. Multiple sets of fixed blocks 202 are located on the outer wall of the mounting bracket 1. One end of the threaded limit rod 203 is attached to the outer wall of the mounting bracket 1. The corrugated hose 204 is located on one side of the mounting bracket 1, and the supplementary light 206 is located above the positioning gripper 7.
[0018] The working process of this utility model is as follows: When the visual positioning and gripping device of the automatic sorting and packing machine based on the DELTA robot designed in this scheme is working, the device is powered on by the controller 201 being electrically connected to the supplementary light 206 via a wire. This causes the controller 201 to control the operation of the supplementary light 206. The controller 201 is mounted on the side wall of the mounting bracket 1, and the fixing block 202 is inserted and removed onto the outer wall of the mounting bracket 1. A threaded limit rod 203 is threaded onto the outer wall of the fixing block 202, and a corrugated hose 204 is installed on the outer wall of the fixing block 202. A mounting base 205 is installed at one end of the corrugated hose 204. The supplementary light 206 is installed on the outer wall of the mounting base 205, which is then opened. Switching the controller 201 causes it to operate the supplementary light 206, which then emits light. Subsequently, moving the corrugated hose 204 causes one end of the hose to adjust the position of the supplementary light 206, so that the supplementary lights 206 in the visual supplementary lighting components 2 around the mounting bracket 1 are directed towards the object below. When the device passes through the visual positioning gripper to pick up an object, the supplementary lights 206 illuminate from all sides to reduce shadows on the object, making the visual positioning more accurate. This helps solve the problem that the visual positioning of the DELTA robot's automatic sorting and packing machine is affected by lighting conditions, and that changes in light in the industrial environment (such as natural light fluctuations, lamp reflections), shadows, or reflective surfaces can lead to decreased image quality and affect target recognition accuracy.
[0019] 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 vision positioning and gripping device for an automatic sorting and packing machine based on a DELTA robot, comprising a mounting bracket (1), characterized in that: A visual supplementary lighting component (2) is installed on the outer wall of the mounting bracket (1). An electric control cylinder (3) is provided on the outer wall of the mounting bracket (1). A horizontal push bracket (4) is installed at one end of the electric control cylinder (3). A fixing rod (5) is provided on the opposite outer wall of the horizontal push bracket (4). A universal ball joint rod (6) is installed on the outer wall of the fixing rod (5). A positioning gripper (7) is rotatably connected to one end of the universal ball joint rod (6).
2. The visual positioning and gripping device for an automatic sorting and packing machine based on a DELTA robot as described in claim 1, characterized in that: The visual supplementary lighting component (2) includes a controller (201) and a fixing block (202). The controller (201) is installed on the side wall of the mounting bracket (1). The fixing block (202) is plugged into and installed on the outer wall of the mounting bracket (1). A threaded limit rod (203) is threadedly connected to the outer wall of the fixing block (202). A corrugated hose (204) is installed on the outer wall of the fixing block (202). A mounting base (205) is installed at one end of the corrugated hose (204). A supplementary light (206) is provided on the outer wall of the mounting base (205).
3. The visual positioning and gripping device for an automatic sorting and packing machine based on a DELTA robot as described in claim 2, characterized in that: The controller (201) is connected to a supplementary light (206) via a wire, and the connection is electrical.
4. The vision positioning and gripping device for an automatic sorting and packing machine based on a DELTA robot as described in claim 3, characterized in that: The electronically controlled cylinder (3) is provided in multiple sets and is located on the outer wall of the mounting bracket (1), and the universal ball joint rod (6) is provided in two sets and is located on the opposite outer wall of the fixed rod (5).
5. The vision positioning and grabbing device of the DELTA robot-based automatic sorting and boxing machine according to claim 4, characterized in that: The fixing blocks (202) are provided in multiple sets and are respectively located on the outer wall of the mounting bracket (1), and one end of the threaded limiting rod (203) is attached to the outer wall of the mounting bracket (1).
6. The vision positioning and gripping device for an automatic sorting and packing machine based on a DELTA robot as described in claim 5, characterized in that: The corrugated hose (204) is located on one side of the mounting bracket (1), and the supplementary light (206) is located above the positioning gripper (7).