Multifunctional visual guidance gripper

Abstract

The present application relates to the field of material handling equipment, disclose a kind of multifunctional visual guidance gripper;The gripper includes processing device, bearing box, support frame, first switch, connecting mechanism, camera module, rolling mechanism, connecting shell, transmission drum, sensing device, moving frame and transport mechanism and other components.By the organic combination of camera module, vision processor and sensing device, gripper can realize highly accurate visual guidance.Moving frame uses sliding leg and vertical sliding slot, so that the gripper can flexibly slide on the horizontal slot, improve stability.Processing device inside contains intelligent processing mechanism, the stability and controllability of gripper in guiding process are realized by the control of electromagnet.The gripper not only includes horizontal gripper, vertical gripper and vertical air cylinder, but also has transmission drum, transport mechanism and other functions, realizes multifunctional operation.Sensing device, transport mechanism and safety design improve the safety of gripper operation together.

Description

Technical Field

[0001] This invention relates to the field of material handling equipment, and more specifically, to a multifunctional vision-guided gripper. Background Technology

[0002] Industrial automation plays a vital role in modern manufacturing, and grippers, as an important component of automation systems, are crucial for improving production efficiency and product quality through enhanced performance and functionality. In traditional industrial automation, the positioning and operation of grippers are typically limited by the following: 1. Limited sensing capabilities: Traditional grippers lack a highly accurate sensing system, making it difficult to accurately sense and understand the position and state of the workpiece in complex working environments.

[0003] 2. Limited operating functions: Traditional grippers can usually only perform basic gripping and releasing functions, lacking diversity and flexibility, and are difficult to adapt to the needs of different working scenarios.

[0004] 3. Lack of intelligent control: The control system of traditional grippers is relatively simple, making it difficult to achieve intelligent control of complex operations, which leads to limitations in operating efficiency and accuracy.

[0005] 4. Safety issues: Due to the lack of comprehensive safety design, traditional grippers pose certain safety hazards during operation, which may lead to personal injury or equipment damage.

[0006] Therefore, to meet the demands of modern industrial automation, there is an urgent need for a new type of gripper technology that possesses high intelligence, flexibility, and safety, enabling precise sensing and multifunctional operation in various working scenarios, and improving automation levels and production efficiency through advanced control systems. This is precisely the core problem that the background technology of this invention aims to solve. Summary of the Invention

[0007] The purpose of this invention is to provide a multifunctional visually guided gripper to solve the problems mentioned in the background art. Its main features include: Processing device: Includes a processing mechanism and a vision processor. Through the precise control of the processing mechanism, combined with the vision processor, a highly accurate perception of the working scene is achieved.

[0008] Multifunctional design: It includes functional components such as horizontal grippers, vertical grippers, and vertical cylinders, which enable multi-angle gripping and operation of workpieces through complex mechanical structures and synergistic effects.

[0009] Flexible moving frame design: Utilizing sliding legs and vertical grooves, the grippers can slide flexibly on the horizontal grooves, improving operational flexibility and stability.

[0010] Sensing device: Includes components such as pressure plate and lifting roller, which ensures that the gripper quickly senses the workpiece through sensitive detection.

[0011] Transportation mechanism: Utilizing components such as conveyor rollers and pusher plates, and controlled by electromagnets, the mechanism accurately pushes and transports workpieces, thereby improving work efficiency.

[0012] Safety design: The coordinated action of components such as the fixing plate and base ensures the safety of the gripper operation and reduces potential risks.

[0013] Preferably, a multifunctional visual guidance gripper is characterized by comprising: a processing device, a carrier box, a support frame, a first switch, a connecting mechanism, a camera module, a rolling mechanism, a connecting housing, a transmission roller, a sensing device, a moving frame, and a transport mechanism; the processing device passes through the moving frame; the processing device is slidably connected to the moving frame; a horizontal groove is provided on the top surface of the moving frame; the processing device slides along the horizontal groove; the first switch is provided on the horizontal groove; the camera module is located on one side of the connecting mechanism; the moving frame is slidably connected to the support frame; a connecting housing is provided outside the connecting mechanism; a visual processor is provided inside the processing device; the visual processor is electrically connected to the camera module; the carrier box is located on the surface of the rolling mechanism; the rolling mechanism includes the sensing device and the transmission roller; the transmission roller is connected in series with the sensing device.

[0014] Preferably, the movable frame includes: sliding legs; multiple sliding legs are provided; the sliding legs are located at the bottom perimeter of the movable frame; the support frame includes vertical grooves; the vertical grooves are located inside the support frame; multiple vertical grooves are provided; the vertical grooves are matched with the positions of the sliding legs; and air jet holes are provided at the bottom of the sliding legs.

[0015] Preferably, the processing device further includes: a processing mechanism, a connecting plate, a limiting spring, a touch block, a limiting housing, a control plate, and a control spring; the vision processor is located inside the processing mechanism; the limiting spring passes through the connecting plate and is connected to the touch block; the other end of the limiting spring is connected to the bottom of the upper part of the processing mechanism; the touch block is connected to the control spring; the other end of the control spring is connected to the top of the lower part of the processing mechanism; the control plate is electrically connected to the connecting plate; the lower part of the processing mechanism is slidably connected to the limiting housing; an electromagnetic coil is provided on the surface of the processing mechanism; when the processing mechanism is energized, the limiting spring pushes the connecting plate and the touch block apart.

[0016] Preferably, the multifunctional vision-guided gripper further includes: a horizontal gripper, a vertical gripper, and a vertical cylinder; the horizontal gripper is provided in one configuration; the vertical grippers are provided in a pair, and the vertical grippers are connected to the vertical cylinder; the vertical cylinder is also connected to the sliding leg; the gripper head of the vertical gripper is detachable; the gripper head of the horizontal gripper is detachable; a rack and a drive gear are provided inside the connecting housing; the rack meshes with the horizontal gripper; the horizontal gripper has a moving groove at the bottom of the housing; the drive gear is located at the center of the horizontal gripper, and the drive gear is cylindrical.

[0017] Preferably, the sensing device includes: a pressure plate, a lifting roller, a fixed shaft, a piston, a sensing spring, a sliding cavity, and a first contact plate; the sensing device is located in the middle of the rolling mechanism; the lifting roller is located above the sensing device; multiple lifting rollers are provided; the fixed shaft is connected to both ends of the multiple lifting rollers; the fixed shaft is located above the piston; the fixed shaft is located inside the sliding cavity; the fixed shaft is slidably connected to the sliding cavity; the piston is located inside the sliding cavity; the piston is located below the fixed shaft; the sensing spring is fixedly connected to the bottom of the sliding cavity and the piston; the piston is fixedly connected to the pressure plate.

[0018] Preferably, the multifunctional visual guidance gripper further includes a fixed plate and a base; the base is located below the fixed plate; the support frame is fixedly connected to the fixed plate; the fixed plate is located below the rolling mechanism; the rolling mechanism is rotatably connected to the fixed plate; a second sensing plate is provided at the bottom of the pressure plate; a first contact plate is provided on the surface of the fixed plate corresponding to the sensing device; the first contact plate controls the rotation of the rolling mechanism when it contacts the second sensing plate.

[0019] Preferably, the transport mechanism includes: a conveying roller, a second contact plate, a first sensing plate, a pusher plate, a pallet, a linear chute, an elastic rope, a return spring, a moving plate, and an electromagnet; the transport mechanism is arranged perpendicular to the rolling mechanism; the transport mechanism is in close contact with the rolling mechanism; the first sensing plate is located at the bottom of the pusher plate; the second contact plate is located on the surface of the pallet; the pallet is located at the bottom of the transport mechanism; the conveying roller is rotatably connected to the pallet; the pusher plate is located above the pallet; the linear chute is provided on the surface of the pusher plate; the electromagnet is provided at the end of the linear chute; the moving plate is T-shaped; the moving plate is located in the chute on the side away from the electromagnet; the bottom of the moving plate is slidably connected to the linear chute; the elastic rope is fixedly connected to the end of the linear chute and the moving plate; when the first sensing plate contacts the second contact plate, the electromagnet is energized and generates magnetism; the return spring connects the pallet and the pusher plate.

[0020] Preferably, the surface of the fixed plate is further provided with a conveyor belt; the conveyor belt is arranged parallel to the rolling mechanism.

[0021] Preferably, the multifunctional vision-guided gripper further includes: a main switch, a stacking platform, a first switch, and a second switch; the first switch and the second switch are a set of dual-control switches; the processing mechanism is provided with an active rotating wheel at the bottom of the horizontal groove; the active rotating wheel is rotatably connected to the horizontal groove; the active rotating wheel is electrically connected to the vision processor; the dual-control switch is electrically connected to the electromagnetic coil; and the processing mechanism is electrically connected to the vertical cylinder and the active gear.

[0022] Compared with the prior art, the beneficial effects of the present invention are: 1. Precise Visual Guidance: Through the organic combination of a camera module, a vision processor, and an electromagnet, along with a dual-control switch, the gripper achieves highly precise visual guidance. The camera module is located on one side of the connecting mechanism and is electrically connected to the vision processor, enabling the gripper to accurately perceive and understand the work scene in different environments.

[0023] 2. Flexible moving frame design: The moving frame adopts sliding legs and vertical grooves, which allows the grippers to slide flexibly in both horizontal and vertical heights.

[0024] 3. Intelligent processing mechanism: The processing device contains a processing mechanism, connecting plate, limit spring and other components. Through the control of electromagnet, the position of the connecting plate and the contact block can be precisely controlled, thereby ensuring the stability and controllability of the gripper during the guiding process.

[0025] 4. Multifunctional gripper design: The grippers include not only horizontal grippers, vertical grippers, and vertical cylinders, but also drive rollers and conveyor mechanisms. The horizontal grippers achieve more precise gripping and manipulation of workpieces through the coordinated action of gears and racks.

[0026] 5. Stable transport mechanism: The transport mechanism includes components such as conveyor rollers, push plates, and pallets, which are controlled by electromagnets to accurately push and transport workpieces. This helps improve the working efficiency and accuracy of the grippers.

[0027] 6. Comprehensive safety design: The synergistic effect of the fixing plate, base and sensing device, as well as the design of the return spring in the transport mechanism, all contribute to improving the safety of gripper operation and reducing potential risks.

[0028] 7. Convenient operation and control: The setting of the main switch, the first switch and the second switch, as well as the design of the active rotating wheel in the processing mechanism, make the operation of the gripper more convenient and controllable.

[0029] Through the combined effect of these technologies, this multifunctional vision-guided gripper performs exceptionally well in industrial automation applications, exhibiting high levels of intelligence, flexibility, and safety, and effectively improving production efficiency and automation levels. Attached Figure Description

[0030] Figure 1 This is a perspective view of the exterior of the present invention; Figure 2 This is a schematic diagram of the elevation of the present invention; Figure 3 This is a top view of the present invention; Figure 4 This is a cross-sectional view of the push plate of the present invention; Figure 5 This is a partial cross-sectional schematic diagram of the present invention; Figure 6 This is a schematic cross-sectional view of the lifting roller of the present invention; Figure 7 This is a cross-sectional schematic diagram of the sensing device of the present invention; Figure 8 This is a top view of the horizontal groove of the present invention; Figure 9 This is a schematic cross-sectional view of the support frame of the present invention; Figure 10 This is a top view of the rolling mechanism of the present invention; Figure 11 This is a cross-sectional view of the sliding leg of the present invention; Figure 12 This is a perspective view of the camera module of the present invention; Figure 13 This is a perspective view of the connecting mechanism of the present invention; Figure 14 This is a cross-sectional view of the vertical gripper of the present invention; Figure 15 This is a cross-sectional perspective view of the connecting mechanism of the present invention; Figure 16 This is a schematic diagram of the vertical gripper structure of the present invention; Figure 17 This is a bottom view of the horizontal gripper of the present invention; In the diagram: 1. Processing device; 101. Processing mechanism; 102. Connecting plate; 103. Limiting spring; 104. Contact block; 105. Limiting housing; 106. Control board; 107. Control spring; 2. Main switch; 3. Support frame; 301. Vertical slide; 4. Carrier box; 5. First switch; 6. Connecting mechanism; 7. Camera module; 8. Horizontal gripper; 801. Horizontal gripper head; 9. Vertical gripper; 901. Vertical cylinder; 902. Vertical gripper head; 10. Stacking platform; 11. Horizontal trough; 12. Conveyor belt; 13. Base; 14. Fixing plate; 1401. Piston; 1402. Induction spring 1403 Spring; 1404 Sliding cavity; 1405 First contact plate; 16 Rolling mechanism; 17 Support plate; 1801 Second contact plate; 19 Conveying roller; 10 Pushing plate; 1002 First sensing plate; 1103 Linear chute; 1204 Elastic rope; 1305 Moving plate; 1406 Electromagnet; 1507 Moving frame; 1608 Sliding leg; 1709 Connecting housing; 18001 Rack; 2001 Drive roller; 2102 Sensing device; 2203 Lifting roller; 2204 Fixed shaft; 2505 Second switch; 2606 Pressure plate; 2707 Second sensing plate; 2808 Return spring. Detailed Implementation

[0031] Based on the above ideas, this invention relates to the field of material handling equipment and discloses a multifunctional vision-guided gripper. The following is a detailed description of the specific embodiments of the multifunctional vision-guided gripper: 1. Processing device 1: Processing unit 101: The processing unit 101 contains a vision processor, which can be a chip or computing unit specifically designed for image processing and analysis.

[0032] Connecting plate 102 and touch block 104: The processing mechanism 101 is connected to the touch block 104 via the connecting plate 102, and the connecting plate 102 and the touch block 104 are connected by a limiting spring 103. This combination allows the touch block 104 to move and be positioned precisely under the control of an electromagnetic coil.

[0033] 2. Multi-functional gripper design: Horizontal gripper 8, vertical gripper 9, and vertical cylinder 901: The horizontal gripper 8 achieves accurate gripping of the workpiece through a mechanical structure of gears and racks 2001. The vertical gripper 9 is connected to the vertical cylinder 901, which works in conjunction with the rolling mechanism 15 through a sliding leg 1901 to control the vertical movement of the gripper.

[0034] Connecting housing 20: The connecting housing 20 is equipped with a rack 2001 and a drive gear. The gear meshes with the horizontal gripper 8. Through the control of the electromagnetic coil, the horizontal gripper 8 can achieve precise movement.

[0035] 3. Sensing device 22: Pressure plate 24, lifting roller 2201, and fixed shaft 2202: These components constitute the sensing device 22, which is responsible for sensitive detection of the workpiece. The lifting roller 2201 is connected to the sliding cavity 1403 through the fixed shaft 2202, and the sensing spring 1402 and piston 1401 are fixedly connected to the pressure plate 24 to achieve rapid sensing of the workpiece.

[0036] 4. Transportation agencies: Conveyor roller 17, pusher plate 18, and pallet 16: The conveyor roller 17 is rotatably connected to the pallet 16, and the pusher plate 18 pushes the carrier box 4 by the attraction of the electromagnet 1805. The design of the linear chute 1802 and the elastic rope 1803 ensures that the pusher plate 18 can return to its original position when needed.

[0037] 5. Safety design: Fixed plate 14 and base 13: Fixed plate 14 and base 13 are fixedly connected to form a stable foundation for the gripper. The contact between the first contact plate 1404 and the second contact plate 2401 of the sensing device 22 controls the rotation of the rolling mechanism 15 to ensure the safety of the gripper during operation.

[0038] 6. Operation and control: Main switch 2, first switch 5 and second switch 23: A set of dual-control switches are electrically connected to the processing mechanism 101, vertical cylinder 901 and drive gear through electromagnetic coils to realize the overall operation and control of the gripper.

[0039] These specific implementations enable multifunctional vision-guided grippers to perform various operations flexibly, intelligently, and safely in industrial automation scenarios, thereby improving production efficiency and automation levels.

[0040] Specifically, a multifunctional vision-guided gripper is characterized by comprising: a processing device 1, a carrier box 4, a support frame 3, a first switch 5, a connecting mechanism 6, a camera module 7, a rolling mechanism 15, a connecting housing 20, a transmission roller 21, a sensing device 22, a moving frame 19, and a transport mechanism; the processing device 1 passes through the moving frame 19; the processing device 1 is slidably connected to the moving frame 19; the top surface of the moving frame 19 is provided with a horizontal groove 11; the processing device 1 slides along the horizontal groove 11; the first switch 5 is provided on the horizontal groove 11; the camera module 7 is located on one side of the connecting mechanism 6; the moving frame 19 is slidably connected to the support frame 3; the connecting mechanism 6 is provided with a connecting housing 20 on its exterior; the processing device 1 is provided with a vision processor inside; the vision processor is electrically connected to the camera module 7; the carrier box 4 is located on the surface of the rolling mechanism 15; the rolling mechanism 15 includes the sensing device 22 and the transmission roller 21; the transmission roller 21 is connected in series with the sensing device 22.

[0041] Specifically, the movable frame 19 includes: sliding legs 1901; multiple sliding legs 1901 are provided; the sliding legs 1901 are located at the bottom periphery of the movable frame 19; the support frame 3 includes vertical sliding grooves 301; the vertical sliding grooves 301 are provided inside the support frame 3; multiple vertical sliding grooves 301 are provided; the vertical sliding grooves 301 are matched with the sliding legs 1901 in position; the bottom of the sliding legs 1901 is provided with air jet holes.

[0042] Specifically, the processing device 1 further includes: a processing mechanism 101, a connecting plate 102, a limiting spring 103, a touch block 104, a limiting housing 105, a control plate 106, and a control spring 107; the vision processor is located inside the processing mechanism 101; the limiting spring 103 passes through the connecting plate 102 and is connected to the touch plate; the other end of the limiting spring 103 is connected to the bottom of the upper part of the processing mechanism 101; the touch plate is connected to the control spring 107; the other end of the control spring 107 is connected to the top of the lower part of the processing mechanism 101; the control plate 106 is electrically connected to the connecting plate 102; the lower part of the processing mechanism 101 is slidably connected to the limiting housing 105; an electromagnetic coil is provided on the surface of the processing mechanism 101; when the processing mechanism 101 is energized, the limiting spring 103 pushes the connecting plate 102 and the touch block 104 apart.

[0043] Specifically, the multifunctional vision-guided gripper further includes: a horizontal gripper 8, a vertical gripper 9, and a vertical cylinder 901; the horizontal gripper 8 is provided in one configuration; the vertical grippers 9 are provided in a pair, and the vertical grippers 9 are connected to the vertical cylinder 901; the vertical cylinder 901 is also connected to the sliding leg 1901; the gripper head of the vertical gripper 9 is detachable; the gripper head of the horizontal gripper 8 is detachable; a rack 2001 and a drive gear are provided inside the connecting housing 20; the rack 2001 meshes with the horizontal gripper 8; the horizontal gripper 8 has a moving groove at the bottom of the housing; the drive gear is located at the center of the horizontal gripper 8, and the drive gear is cylindrical.

[0044] Specifically, the sensing device 22 includes: a pressure plate 24, a lifting roller 2201, a fixed shaft 2202, a piston 1401, a sensing spring 1402, a sliding cavity 1403, and a first contact plate 1404; the sensing device 22 is located in the middle of the rolling mechanism 15; the lifting roller 2201 is located above the sensing device 22; multiple lifting rollers 2201 are provided; the fixed shaft 2202 is connected to both ends of the multiple lifting rollers 2201; the fixed shaft 2202 is located above the piston 1401; the fixed shaft 2202 is located inside the sliding cavity 1403; the fixed shaft 2202 is slidably connected to the sliding cavity 1403; the piston 1401 is located inside the sliding cavity 1403; the piston 1401 is located below the fixed shaft 2202; the sensing spring 1402 is fixedly connected to the bottom of the sliding cavity 1403 and the piston 1401; the piston 1401 is fixedly connected to the pressure plate 24.

[0045] Specifically, the multifunctional visual guidance gripper further includes a fixed plate 14 and a base 13; the base 13 is located below the fixed plate 14; the support frame 3 is fixedly connected to the fixed plate 14; the fixed plate 14 is located below the rolling mechanism 15; the rolling mechanism 15 is rotatably connected to the fixed plate 14; a second sensing plate 2401 is provided at the bottom of the pressure plate 24; a first contact plate 1404 is provided on the surface of the fixed plate 14 corresponding to the sensing device 22; the first contact plate 1404 controls the rotation of the rolling mechanism 15 when it contacts the second sensing plate 2401.

[0046] Specifically, the transport mechanism includes: a conveying roller 17, a second contact plate 1601, a first sensing plate 1801, a pusher plate 18, a pallet 16, a linear chute 1802, an elastic rope 1803, a return spring 25, a moving plate 1804, and an electromagnet 1805; the transport mechanism is arranged perpendicular to the rolling mechanism 15; the transport mechanism is in close contact with the rolling mechanism 15; the first sensing plate 1801 is located at the bottom of the pusher plate 18; the second contact plate 1601 is located on the surface of the pallet 16; the pallet 16 is located at the bottom of the transport mechanism; the conveying roller 17 is rotatably connected to the pallet 16; the pusher plate 18 is located on the pallet 16. Above 6; the surface of the push plate 18 is provided with the linear slide groove 1802; the end of the linear slide groove 1802 is provided with the electromagnet 1805; the moving plate 1804 is T-shaped; the moving plate 1804 is located in the slide groove on the side away from the electromagnet 1805; the bottom of the moving plate 1804 is slidably connected to the linear slide groove 1802; the elastic rope 1803 is fixedly connected to the end of the linear slide groove 1802 and the moving plate 1804; when the first sensing plate 1801 contacts the second contact plate 1601, the electromagnet 1805 is energized and generates magnetism; the reset spring 25 connects the support plate 16 and the push plate 18.

[0047] Specifically, the surface of the fixed plate 14 is also provided with a conveyor belt 12; the conveyor belt 12 is arranged parallel to the rolling mechanism 15.

[0048] Specifically, the multifunctional vision-guided gripper further includes: a main switch 2, a stacking platform 10, a first switch 5, and a second switch 23; the first switch 5 and the second switch 23 are a set of dual-control switches; the processing mechanism 101 is provided with an active rotating wheel at the bottom of the horizontal groove 11; the active rotating wheel is rotatably connected to the horizontal groove 11; the active rotating wheel is electrically connected to the vision processor; the dual-control switch is electrically connected to the electromagnetic coil; and the processing mechanism 101 is electrically connected to the vertical cylinder 901 and the active gear.

[0049] Working principle: Place the high-temperature product on conveyor belt 12, which will transport the product. Turn on the main switch 2, and then proceed with the following steps: 1. Vision Guidance System: Through the organic integration of camera module 7 and vision processor, the gripper can achieve highly precise vision guidance. Camera module 7 is located on one side of connecting mechanism 6 and is electrically connected to vision processor. The gripper achieves accurate positioning and grasping of workpieces by perceiving and understanding the working scene.

[0050] 2. Design of the movable frame 19: The movable frame 19 adopts a sliding leg 1901 and a vertical slide groove 301, which allows the gripper to slide flexibly on the horizontal groove 11. The air jet design and the cooperation between the sliding leg 1901 and the vertical slide groove 301 make the movement of the gripper more flexible in different directions.

[0051] 3. Processing Device 1: Processing device 1 includes a processing mechanism 101, a connecting plate 102, a limiting spring 103, a contact block 104, a limiting housing 105, a control plate 106, and a control spring 107. The vision processor is located inside the processing mechanism 101. By controlling components such as the electromagnetic coil and the limiting spring 103, it can precisely control the position of the connecting plate 102 and the contact block 104, ensuring the stability and controllability of the gripper during the guiding process.

[0052] 4. Multifunctional gripper design: The gripper not only includes a horizontal gripper 8, a vertical gripper 9, and a vertical cylinder 901, but also functions as a drive roller 21 and a transport mechanism. The horizontal gripper 8 achieves more precise gripping and operation of the workpiece through the coordinated action of gears and racks 2001.

[0053] 5. Sensing Device 22: The sensing device 22 includes components such as a pressure plate 24, a lifting roller 2201, and a fixed shaft 2202, enabling sensitive detection of the workpiece. This helps the gripper react promptly, ensuring accuracy and safety during the guiding process.

[0054] 6. Conveying Mechanism: The conveying mechanism includes components such as conveying rollers 17, push plates 18, and pallets 16. It achieves accurate pushing and transporting of workpieces through the control of electromagnets 1805. This helps improve the working efficiency and accuracy of the grippers.

[0055] 7. Safety Design: The coordinated action of the fixing plate 14, the base 13 and the sensing device 22, as well as the design of the return spring 25 in the transport mechanism, help to improve the safety of the gripper operation and reduce potential risks.

[0056] 8. Operation control: The setting of the main switch 2, the first switch 5 and the second switch 23, as well as the design of the active rotating wheel in the processing mechanism 101, make the operation of the gripper more convenient and controllable.

[0057] The synergistic effect of these components makes this multi-functional vision-guided gripper highly intelligent, flexible, and safe, enabling efficient production operations in industrial automation applications.

Claims

1. A multifunctional vision-guided gripper, characterized in that, include: Processing device; Carrier box; Support frame; First switch; Connection mechanism; Camera module; Rolling mechanism; Connect the outer casing; Drive roller; Sensing device; Mobile rack; Transportation agencies; The processing device passes through the movable frame; the processing device is slidably connected to the movable frame; a horizontal groove is provided on the top surface of the movable frame; the processing device slides along the horizontal groove; the first switch is provided on the horizontal groove; the camera module is located on one side of the connecting mechanism; the movable frame is slidably connected to the support frame; a connecting shell is provided on the outside of the connecting mechanism; a vision processor is provided inside the processing device; the vision processor is electrically connected to the camera module; the carrier box is located on the surface of the rolling mechanism; the rolling mechanism includes the sensing device and a transmission roller; the transmission roller is connected in series with the sensing device; The sensing device includes: a pressure plate, a lifting roller, a fixed shaft, a piston, a sensing spring, a sliding cavity, and a first contact plate; the sensing device is located in the middle of the rolling mechanism; the lifting roller is located above the pressure plate; multiple lifting rollers are provided; the fixed shaft is connected to both ends of the multiple lifting rollers; the fixed shaft is located above the piston; the fixed shaft is located inside the sliding cavity; the fixed shaft is slidably connected to the sliding cavity; the piston is located inside the sliding cavity; the piston is located below the fixed shaft; the sensing spring is fixedly connected to the bottom of the sliding cavity and the piston; the piston is fixedly connected to the pressure plate; The visual guidance gripper also includes: a fixed plate and a base; the base is located below the fixed plate; the support frame is fixedly connected to the fixed plate; the fixed plate is located below the rolling mechanism; the rolling mechanism is rotatably connected to the fixed plate; a second sensing plate is provided at the bottom of the pressure plate; a first contact plate is provided on the surface of the fixed plate corresponding to the second sensing plate; when the first contact plate contacts the second sensing plate, it controls the rotation of the rolling mechanism. The transport mechanism includes: a conveying roller, a second contact plate, a first sensing plate, a pusher plate, a pallet, a linear chute, an elastic rope, a return spring, a moving plate, and an electromagnet; the transport mechanism is arranged perpendicular to the rolling mechanism; the transport mechanism is in close contact with the rolling mechanism; the first sensing plate is located at the bottom of the pusher plate; the second contact plate is located on the surface of the pallet; the pallet is located at the bottom of the transport mechanism; the conveying roller is rotatably connected to the pallet; the pusher plate is located above the pallet; the linear chute is provided on the surface of the pusher plate; the electromagnet is provided at the end of the linear chute; the moving plate is T-shaped; the moving plate is located in the chute on the side away from the electromagnet; the bottom of the moving plate is slidably connected to the linear chute; the elastic rope is fixedly connected to the end of the linear chute on the side away from the electromagnet and the moving plate; when the first sensing plate contacts the second contact plate, the electromagnet is energized and generates magnetism; the return spring connects the pallet and the pusher plate.

2. The multifunctional visual guidance gripper according to claim 1, characterized in that, The movable frame includes: sliding legs; multiple sliding legs are provided; the sliding legs are located at the bottom perimeter of the movable frame; the support frame includes vertical sliding grooves; the vertical sliding grooves are located inside the support frame; multiple vertical sliding grooves are provided; the vertical sliding grooves are matched with the positions of the sliding legs; the bottom of the sliding legs is provided with air vents.

3. The multifunctional visual guidance gripper according to claim 2, characterized in that, The processing device further includes: a processing mechanism, a connecting plate, a limiting spring, a touch block, a limiting housing, a control plate, and a control spring; the vision processor is located inside the processing mechanism; the touch block is located at the top of the lower part of the processing mechanism; the limiting spring passes through the connecting plate and is connected to the touch block; the other end of the limiting spring is connected to the bottom of the upper part of the processing mechanism; the control plate is connected to the control spring; the other end of the control spring is connected to the top of the lower part of the processing mechanism; the control plate is electrically connected to the connecting plate; the lower part of the processing mechanism is slidably connected to the limiting housing; an electromagnetic coil is provided on the surface of the processing mechanism; when the processing mechanism is energized, the limiting spring pushes the connecting plate and the touch block apart.

4. The multifunctional visual guidance gripper according to claim 3, characterized in that, Also includes: The machine comprises a horizontal gripper, a vertical gripper, and a vertical cylinder; there is one horizontal gripper; there is a pair of vertical grippers, and the vertical gripper is connected to the vertical cylinder; the vertical cylinder is also connected to the sliding leg; the gripper head of the vertical gripper is detachable; the gripper head of the horizontal gripper is detachable; a rack and a drive gear are provided inside the connecting housing; the rack meshes with the horizontal gripper; the horizontal gripper has a moving groove at the bottom of the housing; the drive gear is located at the center of the horizontal gripper and is cylindrical.

5. A multifunctional visual guidance gripper according to claim 4, characterized in that, The surface of the fixed plate is also provided with a conveyor belt; the conveyor belt is arranged parallel to the rolling mechanism.

6. A multifunctional visual guidance gripper according to claim 5, characterized in that, Also includes: The system includes a main switch, a stacking platform, a first switch, and a second switch; the first switch and the second switch form a set of dual-control switches; the processing mechanism is located at the bottom of the horizontal groove and is equipped with an active rotating wheel; the active rotating wheel is rotatably connected to the horizontal groove; the active rotating wheel is electrically connected to the vision processor; the dual-control switch is electrically connected to the electromagnetic coil; and the processing mechanism is electrically connected to the vertical cylinder and the active gear.

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