Self-aligning gripping robot

Abstract

The application discloses an automatic centering material grabbing manipulator, comprising a clamping mechanism, a visual identification mechanism, a shaping mechanism and a cutting mechanism, wherein the visual identification mechanism comprises a first horizontal visual camera and a second horizontal visual camera, the first horizontal visual camera is used for collecting a left side image of a metal wire, and the second horizontal visual camera is used for collecting a rear side image of the metal wire; the cutting mechanism is arranged below the shaping mechanism, and an upper visual is arranged between the cutting mechanism and the shaping mechanism; the upper visual is fixedly installed on a second driving device, and the second driving device is used for moving the upper visual. Compared with the prior art, the metal wire is effectively shaped, the automatic centering of the metal wire and the cutting mechanism is realized through the upper visual, the cutting precision of the metal wire is improved, and the processing quality is improved.

Description

Technical Field

[0001] This invention belongs to the technical field of feeding devices, and particularly relates to an automatic centering gripping robot. Background Technology

[0002] In machining processes, excess metal wire often exists in products and needs to be cut. For example, Chinese patent CN201910572191.1 discloses a shaping and feeding device for electronic components, including a gear straightening assembly, a rack drive assembly, and a cutting assembly. Along the feeding direction of the electronic components, the gear straightening assembly, rack drive assembly, and cutting assembly are connected in sequence, and the cutting assembly is provided in two symmetrically arranged sets. The gear straightening assembly is used to straighten and drive the electronic component strip, the rack drive assembly is used to lift the electronic components for step-by-step feeding, and the cutting assembly is used to cut the lead terminals of the electronic components and separate them from the strip.

[0003] In existing cutting devices, the feeding mechanism positions the product and simply shapes the excess metal wire on the product before the cutting device cuts off the excess length of the wire. This method cannot accurately control the length and shape of the metal wire, causing difficulties for subsequent processing of the product. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic centering gripping robot that, after effectively shaping the metal wire, automatically centers the metal wire with the cutting mechanism using a top-view vision camera, thereby improving the cutting accuracy and processing quality of the metal wire.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: an automatic centering gripping robot, comprising:

[0006] The clamping mechanism includes an industrial robot, a rotary motor, and pneumatic fingers. The rotary motor is fixedly mounted on the industrial robot and is used to move the rotary motor. The pneumatic fingers are fixedly mounted on the connecting seat of the rotary motor and are used to drive the pneumatic fingers to rotate. The pneumatic fingers are used to clamp the product, and the bottom of the product is provided with metal wires.

[0007] A visual recognition mechanism includes a first horizontal visual camera and a second horizontal visual camera. The first horizontal visual camera is installed at the same height as the second horizontal visual camera. The first horizontal visual camera is used to capture images of the left side of the metal wire, and the second horizontal visual camera is used to capture images of the rear side of the metal wire.

[0008] The shaping mechanism includes a Z-axis mover and a shaping unit. The shaping mechanism is located below the visual recognition mechanism. The shaping unit is fixedly installed on the sliding seat of the Z-axis mover. Shaping units are arranged symmetrically on the left and right sides of the metal wire. The shaping unit is used to shape and bend the metal wire.

[0009] A cutting mechanism is located below the shaping mechanism. An upward vision camera is located between the cutting mechanism and the shaping mechanism. The upward vision camera is fixedly mounted on a second drive device, which is used to move the upward vision camera.

[0010] As a further description of the above technical solution:

[0011] The shaping unit includes a first driving member and a shaping roller. The end of the first driving member is provided with a connector. The shaping roller is rotatably mounted on the connector. The first driving member is used to drive the shaping roller to move horizontally. The shaping roller is provided with a groove that matches the shape of the metal wire. The cross-section of the groove is semi-circular.

[0012] As a further description of the above technical solution:

[0013] A laser distance sensor is installed on the connector, and the detection direction of the laser distance sensor is towards the shaping roller.

[0014] As a further description of the above technical solution:

[0015] The shaping roller includes a bearing and an outer ring body. The bearing is sleeved on the first rotating shaft, the outer ring body is sleeved on the bearing, and the groove is provided on the outer ring body.

[0016] As a further description of the above technical solution:

[0017] The shaping rollers are detachably mounted on the connector.

[0018] As a further description of the above technical solution:

[0019] The connector has a "C" shaped cross-section and includes two parallel side plates with openings facing the metal wire. The first pivot is engaged within the openings.

[0020] As a further description of the above technical solution:

[0021] The bearing is a cylindrical roller bearing.

[0022] As a further description of the above technical solution:

[0023] The second drive unit is a rotating arm.

[0024] As a further description of the above technical solution:

[0025] The pneumatic fingers consist of three gripping fingers arranged circumferentially.

[0026] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0027] 1. In this invention, when the material-grabbing robot loads the product, it first moves to the vision recognition mechanism after gripping the product with pneumatic fingers. Images captured by the first and second horizontal vision cameras are used to calculate the bending point and direction of the metal wire. Then, a rotary motor adjusts the angle of the pneumatic fingers so that when the pneumatic fingers descend to the shaping mechanism via the industrial robot, the bending direction of the metal wire faces the shaping unit. The shaping unit shapes and bends the metal wire. Finally, an image is captured by the upward-looking vision camera to detect whether the metal wire is properly shaped and whether it is aligned. If a deviation occurs, the deviation is calculated, and the industrial robot controls the movement and adjustment of the pneumatic fingers to align the metal wire with the cutting point of the cutting mechanism, achieving automatic centering, ensuring high-precision cutting of the metal wire, and improving processing quality.

[0028] 2. In this invention, when the product is rotated to adjust the angle, the angle of the metal wire is adjusted by rotating a rotary motor instead of being directly adjusted by an industrial robot. This separates the height reduction of the pneumatic finger from the angle adjustment, thereby improving the accuracy of the angle rotation adjustment. Attached Figure Description

[0029] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of an automatic centering gripper.

[0031] Figure 2 This is a schematic diagram of a metal wire before shaping in the hand of an automatically centered material-grabbing robot.

[0032] Figure 3 This is a schematic diagram of a metal wire after it has been shaped by an automatically centered gripping robot.

[0033] Figure 4 This is a schematic diagram of the gripping mechanism in an automatic centering material handling robot.

[0034] Figure 5 This is a schematic diagram of the shaping roller in a material handling robot that automatically centers materials.

[0035] Legend:

[0036] 1. Industrial robot; 2. Rotary motor; 3. Pneumatic finger; 31. Gripping finger; 4. Product; 41. Metal wire; 5. First horizontal vision camera; 6. Second horizontal vision camera; 7. Shaping mechanism; 71. Z-axis mover; 711. Sliding seat; 72. Shaping unit; 721. First drive component; 7211. Connector; 7212. Opening; 722. Shaping roller; 7221. Bearing; 7222. Outer ring; 7223. First rotating shaft; 73. Laser distance sensor; 8. Cutting mechanism; 9. Top-view vision camera; 91. Second drive device. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0038] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0039] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0040] In the description of the embodiments of the present invention, it should be noted that the terms "upper" and "inner" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the present invention.

[0041] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0042] Please see Figure 1-5 This invention provides a technical solution: an automatic centering gripping robot, comprising:

[0043] The clamping mechanism includes an industrial robot 1, a rotary motor 2, and a pneumatic finger 3. The rotary motor 2 is fixedly mounted on the industrial robot 1, and the industrial robot 1 is used to move the rotary motor 2. The pneumatic finger 3 is fixedly mounted on the connecting seat of the rotary motor 2, and the rotary motor 2 is used to drive the pneumatic finger 3 to rotate. The pneumatic finger 3 is used to clamp the product 4, and the bottom of the product 4 is provided with a metal wire 41.

[0044] The visual recognition mechanism includes a first horizontal visual camera 5 and a second horizontal visual camera 6. The installation height of the first horizontal visual camera 5 and the installation height of the second horizontal visual camera 6 are the same. The first horizontal visual camera 5 is used to capture the left side image of the metal wire 41, and the second horizontal visual camera 6 is used to capture the rear side image of the metal wire 41.

[0045] The shaping mechanism 7 includes a Z-axis mover 71 and a shaping unit 72. The shaping mechanism 7 is located below the visual recognition mechanism. The shaping unit 72 is fixedly installed on the sliding seat 711 of the Z-axis mover 71. The shaping units 72 are arranged symmetrically on the left and right sides of the metal wire 41. The shaping unit 72 is used to shape and bend the metal wire 41.

[0046] A cutting mechanism 8 is located below the shaping mechanism 7. An upward vision camera 9 is provided between the cutting mechanism 8 and the shaping mechanism 7. The upward vision camera 9 is fixedly mounted on the second drive device 91, which is used to move the upward vision camera 9.

[0047] The shaping unit 72 includes a first driving member 721 and a shaping roller 722. A connecting member 7211 is provided at the end of the first driving member 721. The shaping roller 722 is rotatably mounted on the connecting member 7211. The first driving member 721 drives the shaping roller 722 to move horizontally. The shaping roller 722 has a groove with a shape matching the metal wire 41, and the groove has a semi-circular cross-section. During the shaping of the metal wire 41, the Z-axis mover 71 moves the shaping unit 72 to the upper side of the calculated bending point of the metal wire 41. Then, the shaping rollers 722 move towards each other under the drive of the first driving member 721, clamping the metal wire 41. Next, the shaping unit 72 is moved downwards under the action of the Z-axis mover 71, and the shaping rollers 722 perform shaping and bending on the metal wire 41. When the shaping rollers 722 in the two shaping units 72 are fully extended by the first driving member 721, the two shaping rollers 722 are respectively arranged on both sides of the metal wire 41, and the metal wire 41 sandwiched between the two is aligned with the cutting point of the cutting mechanism 8.

[0048] A laser distance sensor 73 is provided on the connector 7211, and the detection direction of the laser distance sensor 73 is towards the forming roller 722. During the forming process of the forming unit 72, before the forming unit 72 moves to the upper side of the calculated bending point of the metal wire 41 and the forming roller 722 forms the metal wire 41, the laser distance sensors 73 at both sides of the forming roller 722 detect the distance between themselves and the metal wire 41. The offset distance of the metal wire 41 (unbent section) can be calculated, thereby enabling the industrial robot 1 to move the product 4 horizontally, achieve centering before forming, and improve the forming effect.

[0049] Therefore, the laser distance sensor 73 eliminates the need for subsequent alignment of the shaped metal wire 41 with the help of the upward-looking vision camera 9 and the industrial robot 1, simplifying the alignment process. Later, only the alignment needs to be verified by the upward-looking vision camera 9 (to prevent malfunction of the laser distance sensor 73).

[0050] The shaping roller 722 includes a bearing 7221 and an outer ring 7222. The bearing 7221 is sleeved on the first rotating shaft 7223, and the outer ring 7222 is sleeved on the bearing 7221. A groove is provided on the outer ring 7222. By replacing the outer ring 7222, the shaping roller 722 can quickly switch to handle metal wires 41 of different diameters.

[0051] The shaping roller 722 is detachably mounted on the connector 7211 to accommodate metal wires 41 of different diameters.

[0052] The connector 7211 has a "C" shaped cross section and includes two parallel side plates. The side plates are provided with openings 7212 facing the metal wire 41. The first rotating shaft 7223 is fastened in the opening 7212 to facilitate quick replacement of the shaping roller 722, so as to cope with metal wires 41 of different diameters.

[0053] Bearing 7221 is a cylindrical roller bearing with good compressive strength, ensuring good shaping effect.

[0054] The second drive device 91 is a rotating arm. The second drive device 91 drives the rotating and positioning of the upward-looking vision camera 9 to avoid affecting the cutting.

[0055] The pneumatic fingers 3 include three circumferentially arranged clamping fingers 31, which effectively clamp the product 4 and prevent the product 4 from loosening during the shaping process, resulting in poor shaping effect.

[0056] Working principle: When the gripping robot loads product 4, after the pneumatic finger 3 grips product 4, it first moves to the vision recognition mechanism. The bending point and bending direction of the metal wire 41 are calculated by the images captured by the first horizontal vision camera 5 and the second horizontal vision camera 6. Then, the rotary motor 2 rotates to adjust the angle of the pneumatic finger 3, so that when the pneumatic finger 3 is lowered by the industrial robot 1 to the shaping mechanism 7, the bending direction of the metal wire 41 is facing the shaping unit 72. The shaping unit 72 shapes and bends the metal wire 41. Finally, the image is captured by the upward vision camera 9 to detect whether the metal wire 41 is shaped in place and to determine whether the metal wire 41 is aligned. If there is a deviation, the deviation is calculated and the industrial robot 1 controls the movement and adjustment of the pneumatic finger 3 so that the metal wire 41 of product 4 is aligned with the cutting point of the cutting mechanism 8, realizing automatic centering, ensuring high-precision cutting of the metal wire 41, and improving processing quality.

[0057] When adjusting the angle of product 4, the angle of metal wire 41 is adjusted by rotating motor 2 instead of by directly rotating industrial robot 1. This separates the height reduction of pneumatic finger 3 from the angle adjustment, improving the accuracy of angle rotation adjustment.

[0058] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An automatic centering gripping robot, characterized in that, include: The clamping mechanism includes an industrial robot (1), a rotary motor (2), and a pneumatic finger (3). The rotary motor (2) is fixedly mounted on the industrial robot (1), and the industrial robot (1) is used to move the rotary motor (2). The pneumatic finger (3) is fixedly mounted on the connecting seat of the rotary motor (2), and the rotary motor (2) is used to drive the pneumatic finger (3) to rotate. The pneumatic finger (3) is used to clamp the product (4). The bottom of the product (4) is provided with a metal wire (41). The visual recognition mechanism includes a first horizontal visual camera (5) and a second horizontal visual camera (6). The installation height of the first horizontal visual camera (5) is the same as that of the second horizontal visual camera (6). The first horizontal visual camera (5) is used to capture the left side image of the metal wire (41), and the second horizontal visual camera (6) is used to capture the rear side image of the metal wire (41). The shaping mechanism (7) includes a Z-axis mover (71) and a shaping unit (72). The shaping mechanism (7) is located below the visual recognition mechanism. The shaping unit (72) is fixedly installed on the sliding seat (711) of the Z-axis mover (71). The shaping units (72) are arranged symmetrically on the left and right sides of the metal wire (41). The shaping unit (72) is used to shape and bend the metal wire (41). A cutting mechanism (8) is provided below the shaping mechanism (7). An upward vision camera (9) is provided between the cutting mechanism (8) and the shaping mechanism (7). The upward vision camera (9) is fixedly mounted on a second driving device (91). The second driving device (91) is used to move the upward vision camera (9). The shaping unit (72) includes a first driving member (721) and a shaping roller (722). The end of the first driving member (721) is provided with a connector (7211). The shaping roller (722) is rotatably mounted on the connector (7211). The first driving member (721) is used to drive the shaping roller (722) to move horizontally. The shaping roller (722) is provided with a groove that matches the shape of the metal wire (41). The cross-section of the groove is semi-circular. A laser distance sensor (73) is provided on the connector (7211), and the detection direction of the laser distance sensor (73) is toward the shaping roller (722). During the shaping process of the shaping unit (72), before the shaping unit (72) moves to the upper side of the calculated bending point of the metal wire (41) and the shaping roller (722) shapes the metal wire (41), the laser distance sensor (73) at both sides of the shaping roller (722) detects the distance between itself and the metal wire (41), and can calculate the offset distance of the metal wire (41), so that the industrial robot can move the product horizontally and achieve centering before shaping.

2. The automatic centering gripper according to claim 1, characterized in that, The shaping roller (722) includes a bearing (7221) and an outer ring body (7222). The bearing (7221) is sleeved on the first rotating shaft (7223), and the outer ring body (7222) is sleeved on the bearing (7221). The groove is provided on the outer ring body (7222).

3. The automatic centering gripping robot according to claim 2, characterized in that, The shaping roller (722) is detachably mounted on the connector (7211).

4. The automatic centering gripping robot according to claim 3, characterized in that, The connector (7211) has a "C" shaped cross section. The connector (7211) includes two parallel side plates with an opening (7212) on each side plate facing the metal wire (41). The first rotating shaft (7223) is fastened into the opening (7212).

5. The automatic centering gripping robot according to claim 2, characterized in that, The bearing (7221) is a cylindrical roller bearing.

6. The automatic centering gripper according to claim 1, characterized in that, The second drive device (91) is a rotating arm.

7. The automatic centering gripper according to claim 1, characterized in that, The pneumatic finger (3) includes three gripping fingers (31) arranged circumferentially.

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