A gripper for grabbing rear bumper based on laser retrieval positioning

Abstract

This invention provides a laser-based positioning and gripping mechanism for rear bumpers, comprising a mounting plate mechanism, a laser positioning mechanism, a supplementary lighting and imaging mechanism, and a positioning and clamping mechanism. The mounting plate mechanism has the laser positioning mechanism, supplementary lighting and imaging mechanism, and positioning and clamping mechanism respectively located at both ends. The positioning and clamping mechanism has the laser positioning mechanism and supplementary lighting and imaging mechanism located on one side, with the supplementary lighting and imaging mechanism positioned below the laser positioning mechanism. This invention uses the laser positioning mechanism and supplementary lighting and imaging mechanism to position the bumper during gripping and loading. The mounting plate mechanism enables the installation and replacement of various clamps, and the positioning and clamping mechanism enhances the stability of the clamps during rotation. This effectively improves the positioning accuracy of the clamps, reduces manual labor intensity, and allows for the matching of different clamps to different bumper models.

Description

Technical Field

[0001] The invention relates to the technical field of bumper processing, in particular to a gripper for grabbing a rear bumper based on laser retrieval positioning. Background Art

[0002] Among the components of a car's body, the bumper is the front protection of the car. It is an important safety device that absorbs and mitigates external impact and protects the front and rear parts of the car. The bumper is mainly used to mitigate the impact of a minor collision on the car, and it is relatively easy to replace even if it is damaged. In the process of producing and processing bumpers, generally speaking, it is manually loaded, then manually operated and judged whether it is qualified, and finally transported to the designated installation location with the help of a sling.

[0003] However, the combination of manual labor and simple lifting equipment not only increases the labor intensity, but also affects the qualification rate of the bumper due to manual judgment alone during the loading process. In addition, the insufficient accuracy and inconvenient operation of manual positioning and transportation will also affect the subsequent installation process. A single lifting equipment will also not be able to coordinate well with bumpers of different models. Summary of the invention

[0004] In order to overcome the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a gripper for grabbing a rear bumper based on laser retrieval positioning, so as to effectively solve the above-mentioned problems.

[0005] The technical solution adopted by the present invention to solve its technical problem is:

[0006] A rear bumper gripper based on laser retrieval positioning and grabbing, comprising a mounting plate mechanism, a laser positioning mechanism, a fill-light camera mechanism and a positioning and clamping mechanism; the laser positioning mechanism, the fill-light camera mechanism and the positioning and clamping mechanism are respectively arranged at both ends of the mounting plate mechanism; the laser positioning mechanism and the fill-light camera mechanism are arranged on one side of the positioning and clamping mechanism, and the fill-light camera mechanism is arranged below the laser positioning mechanism.

[0007] As a further improvement of the present invention: the fill light photography mechanism includes a 3D laser vision camera, a supplementary light source assembly and a vision photography mounting plate; the 3D laser vision camera is arranged at the bottom end of the vision photography mounting plate, the top end of the vision photography mounting plate is connected to the mounting plate mechanism, the top end of the supplementary light source assembly is connected to the mounting plate mechanism, the 3D laser vision camera is arranged on one side of the positioning and clamping mechanism, and the supplementary light source assembly is arranged on the other side of the positioning and clamping mechanism.

[0008] As a further improvement of the present invention: the supplementary light source assembly includes a light source mounting plate, a light source mounting folding plate, a supplementary light source part, mounting studs and adjustment studs; the top end of the light source mounting plate is arranged on the mounting plate mechanism, the bottom end of the light source mounting plate is arranged with mounting studs and adjustment studs, one end of the light source mounting folding plate is connected to the light source mounting plate through the mounting studs, the light source mounting folding plate is arranged with an arc groove, the adjustment studs are arranged on the arc groove, and the other end of the light source mounting folding plate is arranged with a supplementary light source part.

[0009] As a further improvement of the present invention: the laser positioning mechanism includes a first laser rangefinder, a second laser rangefinder, a first laser mounting plate and a second laser mounting plate, the first laser rangefinder is connected to the mounting plate mechanism through the first laser mounting plate, the second laser rangefinder is connected to the mounting plate mechanism through the second laser mounting plate, the first laser rangefinder is located above the 3D laser vision camera, and the second laser rangefinder is located above the supplementary light source.

[0010] As a further improvement of the present invention: the positioning and clamping mechanism includes a clamping assembly, a positioning assembly and a clamping cylinder; the top end of the clamping cylinder is arranged on the mounting plate mechanism, the bottom end of the clamping cylinder is connected to the clamping assembly, and a positioning assembly is arranged on one side of the clamping assembly.

[0011] As a further improvement of the present invention: the clamping assembly includes a first connecting block, a first connecting shaft, a second connecting block, a second connecting shaft, a pressing block, a supporting block, a third connecting block, a fourth connecting block, a third connecting shaft, a fifth connecting block and an adjusting gasket; one end of the first connecting block is connected to the clamping cylinder, the other end of the first connecting block is rotatably connected to one end connected to the second connecting block through the first connecting shaft, the other end of the second connecting block is rotatably connected to one end of the pressing block through the second connecting shaft, one end of the third connecting block and the fourth connecting block is clamped on both sides of the pressing block through the third connecting shaft, the fifth connecting block is arranged between the third connecting block and the fourth connecting block, a limiting block is arranged between the fifth connecting block and the pressing block, an adjusting gasket is arranged above the fifth connecting block, and a supporting block is arranged above the adjusting gasket.

[0012] As a further improvement of the present invention: the top of the pressing block has a hook-shaped structure, and the end of the supporting block close to the pressing block has a convex block structure adapted to the hook-shaped structure.

[0013] As a further improvement of the present invention: the positioning assembly includes a positioning adjustment gasket, a positioning connecting block, a positioning pin seat and a positioning pin; one end of the positioning connecting block is connected to the mounting plate mechanism, and a positioning adjustment gasket is provided at the connection point; one side of the positioning connecting block is connected to the positioning pin seat, and a positioning pin is provided at the bottom end of the positioning pin seat.

[0014] As a further improvement of the present invention: the mounting plate mechanism includes a gun changing disk, a gun changing disk connecting plate, a mechanism mounting base plate, a laser mounting plate, a fixture mounting seat and a proximity switch; the gun changing disk is arranged on one side of the gun changing disk connecting plate, and laser mounting plates are arranged at both ends of the gun changing disk connecting plate, a mechanism mounting base plate is arranged below the gun changing disk, a fixture mounting seat is arranged below the mechanism mounting base plate, a proximity switch is arranged below the fixture mounting seat, a laser positioning mechanism and a fill light photography mechanism are arranged on the laser mounting plate, the laser mounting plate is connected to the top end of the positioning and clamping mechanism, and one end of the fixture mounting seat is connected to the middle position of the positioning and clamping mechanism.

[0015] As a further improvement of the present invention: it also includes a robot, one end of the robot passes through the gun changing disk connecting plate and is connected to the gun changing disk.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The present invention realizes the positioning of the bumper during the process of grasping and feeding through a laser positioning mechanism and a fill light photography mechanism, and then realizes the installation and replacement of various clamps through a mounting plate mechanism. The stability of the clamp's dark rotation is enhanced through a positioning and clamping mechanism, which can effectively improve the accuracy of clamp positioning, reduce manual labor intensity, and can match different clamps according to different types of bumpers. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the gripper structure of the present invention.

[0019] Figure 2 It is a schematic diagram of the structure of the supplementary light source assembly of the present invention.

[0020] Figure 3 Schematic diagram of the light source channel and laser of the present invention.

[0021] Figure 4 It is a schematic diagram of the structure of the clamping assembly of the present invention.

[0022] Figure 5 It is a schematic diagram of the motion structure of the clamping assembly of the present invention.

[0023] Figure 6 It is a schematic diagram of the structure of the positioning component of the present invention.

[0024] Figure 7 This is a schematic diagram of the installation of the robot and gripper of the present invention.

[0025] Figure 8 It is a schematic diagram of the bottom surface structure of the laser mounting plate of the present invention.

[0026] Description of reference numerals:

[0027] 1-mounting plate mechanism; 2-laser positioning mechanism; 3-supplementary light photography mechanism; 4-positioning and clamping mechanism; 31-3D laser visual camera; 32-supplementary light source assembly; 33-visual photography mounting plate; 321-light source mounting plate; 322-light source mounting folding plate; 323-supplementary light source component; 324-mounting stud; 325-adjusting stud; 326-arc groove; 21-first laser rangefinder; 22-second laser rangefinder; 23-first laser mounting plate; 24-second laser mounting plate; 41-clamping assembly; 42-positioning assembly; 43-clamping cylinder; 431-first connecting block; 432-first connecting shaft; 433-second connecting block; 434-second connecting shaft; 435-pressing block; 436-supporting block; 437-third connecting block; 438-fourth connecting block; 439-third connecting shaft; 440-fifth connecting block; 430-adjusting gasket; 441-limiting block; 4351-hook-shaped structure; 4352-bump structure; 421-positioning adjustment gasket; 422-positioning connecting block; 423-positioning pin seat; 424-positioning pin; 11-gun changing plate; 12-gun changing plate connecting plate; 13-mechanism mounting base plate; 14-laser mounting plate; 15-clamp mounting seat; 16-proximity switch; 5-robot; 6-electric control box. DETAILED DESCRIPTION

[0028] The present invention is further described with reference to the accompanying drawings and embodiments:

[0029] Embodiment 1:

[0030] This embodiment provides the following Figure 1 A rear bumper gripper based on laser retrieval positioning and grasping is shown, which includes a mounting plate mechanism 1, a laser positioning mechanism 2, a fill light camera mechanism 3 and a positioning and clamping mechanism 4; the laser positioning mechanism 2, the fill light camera mechanism 3 and the positioning and clamping mechanism 4 are respectively arranged at both ends of the mounting plate mechanism 1; the laser positioning mechanism 2 and the fill light camera mechanism 3 are arranged on one side of the positioning and clamping mechanism 4, and the fill light camera mechanism 3 is arranged below the laser positioning mechanism 2.

[0031] In this embodiment, the mounting plate mechanism 1 is used to install and fix the laser positioning mechanism 2, the fill light camera mechanism 3 and the positioning and clamping mechanism 4, and can be installed with the robot 5 and the fixture to achieve the adaptation and installation of the overall structure, as well as the replacement of the fixture at any time; the laser positioning mechanism 2 uses laser to achieve precise positioning of the bumper; the fill light camera mechanism 3 is used to take pictures of the bumper and upload data when grabbing the bumper, to help further precise positioning, and can also help the system to detect and determine the qualified rate of the bumper; the positioning and clamping mechanism 4 is used to cooperate with the mounting plate mechanism 1 to install and clamp the fixture.

[0032] During the working process, according to actual needs, the clamp corresponding to the suitable model of bumper is selected, the clamp is installed through the mounting plate mechanism 1, and then the clamp is further clamped and fixed by the positioning and clamping mechanism 4. Then, when the overall gripper moves to the top of the bumper, it is positioned step by step by the laser positioning mechanism 2, and the clamp is moved to the correct position according to the laser positioning mechanism 2, aligned with the position of the bumper grabbing, and then further positioned and determined by the fill light camera mechanism 3, and a photo is taken and uploaded. The system detects whether it is qualified based on the photographed data. If so, the overall gripper moves down to grab the bumper and moves it to the subsequent processing or installation station. If not, an alarm notification is issued.

[0033] Embodiment 2:

[0034] This embodiment provides the following Figure 1-8 A rear bumper gripper based on laser retrieval positioning and grasping is shown, which includes a mounting plate mechanism 1, a laser positioning mechanism 2, a fill light camera mechanism 3 and a positioning and clamping mechanism 4; the laser positioning mechanism 2, the fill light camera mechanism 3 and the positioning and clamping mechanism 4 are respectively arranged at both ends of the mounting plate mechanism 1; the laser positioning mechanism 2 and the fill light camera mechanism 3 are arranged on one side of the positioning and clamping mechanism 4, and the fill light camera mechanism 3 is arranged below the laser positioning mechanism 2.

[0035] This embodiment is based on the first embodiment, and the structure of the fill light shooting mechanism 3 is further described in detail. Figure 1 As shown, the fill light photography mechanism 3 includes a 3D laser vision camera 31, a supplementary light source assembly 32 and a vision photography mounting plate 33; the 3D laser vision camera 31 is arranged at the bottom end of the vision photography mounting plate 33, the top end of the vision photography mounting plate 33 is connected to the mounting plate mechanism 1, the top end of the supplementary light source assembly 32 is connected to the mounting plate mechanism 1, the 3D laser vision camera 31 is arranged on one side of the positioning and clamping mechanism 4, and the supplementary light source assembly 32 is arranged on the other side of the positioning and clamping mechanism 4.

[0036] The 3D laser vision camera 31 is used for laser positioning and photo processing; the supplementary light source assembly 32 is used for supplementary light when taking photos to ensure the clarity of the photos; the visual photo mounting plate 33 is used to mount the 3D laser vision camera 31 on the mounting plate mechanism 1. Specifically, the 3D laser coverage range A of the 3D laser vision camera 31 is as shown in the attached figure. Figure 2 As shown in FIG. 1 , the light source channel B of the supplementary light source assembly 32 is shown in FIG. Figure 3 as shown in .

[0037] The structure of the supplementary light source assembly 32 is further described in detail, as shown in the attached Figure 2As shown, the supplementary light source assembly 32 includes a light source mounting plate 321, a light source mounting folding plate 322, a supplementary light source part 323, a mounting stud 324 and an adjustment stud 325; the top end of the light source mounting plate 321 is arranged on the mounting plate mechanism 1, the bottom end of the light source mounting plate 321 is provided with a mounting stud 324 and an adjustment stud 325, one end of the light source mounting folding plate 322 is connected to the light source mounting plate 321 through the mounting stud 324, the light source mounting folding plate 322 is provided with an arc groove 326, the adjustment stud 325 is arranged on the arc groove 326, and the other end of the light source mounting folding plate 322 is provided with a supplementary light source part 323.

[0038] The light source mounting plate 321 is used to mount the light source mounting folding plate 322; the light source mounting folding plate 322 cooperates with the adjusting stud 325 to mount the supplementary light source component 323 and adjust the angle of the supplementary light source component 323; the mounting stud 324 is used to mount the light source mounting folding plate 322 on the light source mounting plate 321; the supplementary light source component 323 is used to provide supplementary light. Specifically, by adjusting the position of the adjusting stud 325 in the arc groove 326, the angle of the supplementary light source component 323 is adjusted. The arc-shaped setting of the arc groove 326 enables the light source mounting folding plate 322 to rotate within the limited range of the arc groove 326.

[0039] It is conceivable that the supplementary light source 323 is a lighting element that can be used in the prior art, such as an LED lamp, etc. It is conceivable that screw holes for installing the mounting studs 324 and the adjusting studs 325 are provided on the light source mounting plate 321 .

[0040] Further, the structure of the laser positioning mechanism 2 is described in detail, as shown in the attached Figure 1 As shown, the laser positioning mechanism 2 includes a first laser rangefinder 21, a second laser rangefinder 22, a first laser mounting plate 23 and a second laser mounting plate 24. The first laser rangefinder 21 is connected to the mounting plate mechanism 1 through the first laser mounting plate 23, and the second laser rangefinder 22 is connected to the mounting plate mechanism 1 through the second laser mounting plate 24. The first laser rangefinder 21 is located above and near the 3D laser vision camera 31, and the second laser rangefinder 22 is located above and near the supplementary light source 323.

[0041] Among them, the first laser rangefinder 21 and the second laser rangefinder 22 use lasers to measure distance and position. The first laser mounting plate 23 is used to mount the first laser rangefinder 21 on the mounting plate mechanism 1, and the second laser mounting plate 24 is used to mount the second laser rangefinder 22 on the mounting plate mechanism 1. In order to further ensure the accuracy of the first laser rangefinder 21 and the second laser rangefinder 22, the first laser rangefinder 21 is located above and near the 3D laser vision camera 31, and the second laser rangefinder 22 is located above and near the supplementary light source 323, so that the two can fully cooperate with the 3D laser vision camera 31 to form a complete set of equipment, and then be compatible with various types of bumper installations, and its installation and positioning accuracy can be guaranteed to ±0.2mm. Specifically, the emission light C of the first laser rangefinder 21 and the second laser rangefinder 22 is as shown in the attached Figure 3 shown.

[0042] Further, the structure of the positioning and pressing mechanism 4 is described in detail, as shown in the attached Figure 1 As shown, the positioning and clamping mechanism 4 includes a clamping assembly 41, a positioning assembly 42 and a clamping cylinder 43; the top end of the clamping cylinder 43 is arranged on the mounting plate mechanism 1, the bottom end of the clamping cylinder 43 is connected to the clamping assembly 41, and the positioning assembly 42 is arranged on one side of the clamping assembly 41.

[0043] Among them, the clamping assembly 41 is used to cooperate with the mounting plate assembly to improve the stability of the fixture installation; the positioning assembly 42 is used to position the fixture during the installation process, and can cooperate with the clamping assembly 41 to further tighten the fixture; the clamping cylinder 43 is used to drive the clamping assembly 41 to press down to achieve clamping and reinforcement of the fixture.

[0044] Further, the structure of the pressing assembly 41 is described in detail, as shown in the attached Figure 4As shown, the clamping assembly 41 includes a first connecting block 431, a first connecting shaft 432, a second connecting block 433, a second connecting shaft 434, a pressing block 435, a supporting block 436, a third connecting block 437, a fourth connecting block 438, a third connecting shaft 439, a fifth connecting block 440 and an adjusting gasket 430; one end of the first connecting block 431 is connected to the clamping cylinder 43, the other end of the first connecting block 431 is rotatably connected to one end connected to the second connecting block 433 through the first connecting shaft 432, and the second connecting block The other end of 433 is rotatably connected to one end of the pressing block 435 through the second connecting shaft 434, one end of the third connecting block 437 and the fourth connecting block 438 are clamped on both sides of the pressing block 435 through the third connecting shaft 439, the fifth connecting block 440 is arranged between the third connecting block 437 and the fourth connecting block 438, a limiting block 441 is arranged between the fifth connecting block 440 and the pressing block 435, an adjusting gasket 430 is arranged above the fifth connecting block 440, and a supporting block 436 is arranged above the adjusting gasket 430.

[0045] Among them, the first connection block 431 and the second connection block 433 are rotated with each other through the first connection shaft 432; the second connection block 433 and the pressure block 435 are rotated with each other through the second connection shaft 434; and one end of the third connection block 437 and the fourth connection block 438 clamps the middle part of the pressure block 435 through the third connection shaft 439 to fix the two and the pressure block 435, and clamps the fifth connection block 440 between the third connection block 437 and the fourth connection block 438 by means of bolts, etc., to clamp and fix the fifth connection block 440; one end of the fifth connection block 440 is connected to the pressure block 435 through the limit block 441, and finally fixes the ground connection block; a support block 436 is set on the fifth connection block 440, and the clamping is achieved by the cooperation between the support block 436 and the pressure block 435. The adjustment gasket 430 is used for shock absorption and increasing the wear resistance between the support block 436 and the fifth connection block 440.

[0046] During the installation of the mounting plate mechanism 1 and the fixture, the positioning and clamping mechanisms 4 at both ends of the mounting plate mechanism 1 are adjusted, and the clamping assembly 41 is driven downward as a whole by the clamping cylinder 43. Through the above-mentioned rotatable setting, the first connecting block 431, the second connecting block 433 and the pressing block 435 can be flexibly rotated, and then a small arc adjustment can be made according to the actual fixture model to fit the shape and width of the fixture. After adjusting to a certain shape, tighten the nuts and other tightening devices set at both ends of the first, second and third connecting shafts 439 to ensure the fit of the overall installation. Then, according to actual needs, rotate the pressing block 435 (as shown in the attached figure) Figure 5), to adjust the distance between the pressing block 435 and the supporting block 436, thereby further clamping the fixture. Specifically, the distance is adjusted by adjusting the insertion depth of the fifth connecting block 440 between the third connecting block 437 and the fourth connecting block 438 (at this time, limit blocks 441 of different lengths can be installed to match), or by adjusting the installation position of the supporting block 436 on the fifth connecting block 440.

[0047] Further, as attached Figure 4-5 As shown, for the clamping of the pressing block 435 and the supporting block 436, the top of the pressing block 435 has a hook-shaped structure 4351, and the end of the supporting block 436 close to the pressing block 435 has a convex structure 4352 adapted to the hook-shaped structure 4351. Not only can the clamp be clamped by the distance between the supporting block 436 and the pressing block 435, but the clamp edge can also be hooked by the cooperation of the hook-shaped structure 4351 and its convex structure 4352, so as to further stabilize the clamp.

[0048] Further, the structure of the positioning assembly 42 is described in detail, as shown in the attached Figure 6 As shown, the positioning assembly 42 includes a positioning adjustment gasket 421, a positioning connection block 422, a positioning pin seat 423 and a positioning pin 424; one end of the positioning connection block 422 is connected to the mounting plate mechanism 1, and a positioning adjustment gasket 421 is provided at the connection, one side of the positioning connection block 422 is connected to the positioning pin seat 423, and a positioning pin 424 is provided at the bottom end of the positioning pin seat 423.

[0049] Among them, the function of the positioning adjustment gasket 421 is to reduce the friction between the positioning connection block 422 and the mounting plate mechanism 1 and increase the wear resistance; the positioning connection block 422 is used to install the positioning assembly 42 to the mounting plate mechanism 1; the positioning pin seat 423 is used to install the positioning pin 424; the positioning pin 424 is used to position and fix the fixture during the installation process.

[0050] Continue to install the plate mechanism 1 in this embodiment, Figure 7-8 The structure of Figure 1 As shown, the mounting plate mechanism 1 includes a gun changing disk 11, a gun changing disk connecting plate 12, a mechanism mounting base plate 13, a laser mounting plate 14, a fixture mounting seat 15 and a proximity switch 16; the gun changing disk 11 is arranged on one side of the gun changing disk connecting plate 12, and laser mounting plates 14 are arranged at both ends of the gun changing disk connecting plate 12, a mechanism mounting base plate 13 is arranged below the gun changing disk 11, a fixture mounting seat 15 is arranged below the mechanism mounting base plate 13, a proximity switch 16 is arranged below the fixture mounting seat 15, a laser positioning mechanism 2 and a fill light photography mechanism 3 are arranged on the laser mounting plate 14, the laser mounting plate 14 is connected to the top end of the positioning and clamping mechanism 4, and one end of the fixture mounting seat 15 is connected to the middle position of the positioning and clamping mechanism 4.

[0051] Among them, the gun changing plate 11 is used to install the robot 5; the gun changing plate connecting plate 12 is used to cooperate with the installation of the robot 5 and the installation of the laser mounting plate 14; one side of the laser mounting plate 14 is connected to the visual camera mounting plate 33, and then the 3D laser visual camera 31 is installed and fixed, and connected to the light source mounting plate 321, and then the supplementary light source 323 is fixed, and the first laser mounting plate 23 and the second laser mounting plate 24 are installed below it, and then the first laser rangefinder 21 and the second laser rangefinder 22 are fixed, and the top of the clamping cylinder 43 is fixed below the laser mounting plate 14, and the bottom end of the clamping cylinder 43 is connected and fixed to the clamp mounting seat 15, and the top of the third connecting block 437 is connected and fixed to the bottom surface of one end of the clamp mounting seat 15 to realize the installation of the clamping component 41, and one end of the clamp mounting seat 15 is connected and fixed to the top of the positioning component 42 to realize the installation of the positioning component 42, and an electric control box 6 is also arranged above the laser mounting plate 14 to provide power for the above-mentioned devices that need power. The mechanism mounting base plate 13 is used to mount the gun changing plate 11 and the fixture mounting seat 15; Figure 8 As shown, the fixture mounting seat 15 is an irregular plate-shaped or rod-shaped structure, or a combination of a rod-shaped structure and a plate-shaped structure, and the corresponding structure and hole positions for mounting the fixture are arranged below it, and the fixture can be fixed below the fixture mounting seat 15 by existing connecting parts such as nuts and mounting shafts. The proximity switch 16 is used to further cooperate with other laser positioning mechanisms to accurately position the bumper.

[0052] Further, as attached Figure 8 As shown, the robot 5 is also included, and one end of the robot 5 is connected to the gun changing tray 11 through the gun changing tray connecting plate 12. The robot 5 realizes the overall movement.

[0053] The main functions of the present invention are as follows: It is applied to the production, transportation or installation of various workpieces, especially the loading, transportation and installation of bumpers. It can achieve precise positioning by combining a laser rangefinder, a 3D laser vision camera and various positioning components, and is convenient for replacing different types of fixtures or robots.

[0054] In summary, after reading the present invention document, ordinary technicians in this field can make various other corresponding transformation schemes based on the technical scheme and technical concept of the present invention without creative mental work, which all fall within the scope of protection of the present invention.

Claims

1. A rear bumper gripper based on laser retrieval positioning, characterized in that: It includes a mounting plate mechanism, a laser positioning mechanism, a fill-light camera mechanism and a positioning and pressing mechanism; the laser positioning mechanism, the fill-light camera mechanism and the positioning and pressing mechanism are respectively arranged at both ends of the mounting plate mechanism; the laser positioning mechanism and the fill-light camera mechanism are arranged on one side of the positioning and pressing mechanism, and the fill-light camera mechanism is arranged below the laser positioning mechanism; The positioning and clamping mechanism includes a clamping assembly and a clamping cylinder; the top end of the clamping cylinder is arranged on the mounting plate mechanism, and the bottom end of the clamping cylinder is connected to the clamping assembly; the clamping assembly includes a first connecting block, a first connecting shaft, a second connecting block, a second connecting shaft, a pressing block, a supporting block, a third connecting block, a fourth connecting block, a third connecting shaft, a fifth connecting block and an adjusting gasket; one end of the first connecting block is connected to the clamping cylinder, the other end of the first connecting block is rotatably connected to one end connected to the second connecting block through the first connecting shaft, the other end of the second connecting block is rotatably connected to one end of the pressing block through the second connecting shaft, one end of the third connecting block and the fourth connecting block is clamped on both sides of the pressing block through the third connecting shaft, the fifth connecting block is arranged between the third connecting block and the fourth connecting block, a limiting block is arranged between the fifth connecting block and the pressing block, an adjusting gasket is arranged above the fifth connecting block, and a supporting block is arranged above the adjusting gasket.

2. The laser-based retrieval positioning and grabbing rear bumper gripper according to claim 1, characterized in that: The fill light photography mechanism includes a 3D laser vision camera, a supplementary light source assembly and a vision photography mounting plate; the 3D laser vision camera is arranged at the bottom end of the vision photography mounting plate, the top end of the vision photography mounting plate is connected to the mounting plate mechanism, the top end of the supplementary light source assembly is connected to the mounting plate mechanism, the 3D laser vision camera is arranged on one side of the positioning and clamping mechanism, and the supplementary light source assembly is arranged on the other side of the positioning and clamping mechanism.

3. The laser-based retrieval positioning and grabbing rear bumper gripper according to claim 2, characterized in that: The supplementary light source assembly includes a light source mounting plate, a light source mounting folding plate, a supplementary light source part, mounting studs and adjustment studs; the top end of the light source mounting plate is arranged on the mounting plate mechanism, the bottom end of the light source mounting plate is provided with mounting studs and adjustment studs, one end of the light source mounting folding plate is connected to the light source mounting plate through the mounting studs, the light source mounting folding plate is provided with an arc groove, the adjustment studs are arranged on the arc groove, and the other end of the light source mounting folding plate is provided with a supplementary light source part.

4. The laser-based retrieval positioning and grabbing rear bumper gripper according to claim 1, characterized in that: The laser positioning mechanism includes a first laser rangefinder, a second laser rangefinder, a first laser mounting plate and a second laser mounting plate. The first laser rangefinder is connected to the mounting plate mechanism through the first laser mounting plate, and the second laser rangefinder is connected to the mounting plate mechanism through the second laser mounting plate. The first laser rangefinder is located above and near the 3D laser vision camera, and the second laser rangefinder is located above and near the supplementary light source.

5. The laser-based retrieval positioning and grabbing rear bumper gripper according to claim 1, characterized in that: The positioning and clamping mechanism also includes a positioning component. A positioning component is arranged on one side of the clamping component.

6. The laser-based retrieval positioning and grabbing rear bumper gripper according to claim 5, characterized in that: The top of the pressing block has a hook-shaped structure, and one end of the supporting block close to the pressing block has a convex block structure adapted to the hook-shaped structure.

7. The laser-based retrieval positioning and grabbing rear bumper gripper according to claim 5, characterized in that: The positioning assembly includes a positioning adjustment gasket, a positioning connection block, a positioning pin seat and a positioning pin; one end of the positioning connection block is connected to the mounting plate mechanism, and a positioning adjustment gasket is provided at the connection; one side of the positioning connection block is connected to the positioning pin seat, and a positioning pin is provided at the bottom end of the positioning pin seat.

8. The laser-based retrieval positioning and grabbing rear bumper gripper according to claim 1, characterized in that: The mounting plate mechanism includes a gun changing disk, a gun changing disk connecting plate, a mechanism mounting base plate, a laser mounting plate, a fixture mounting seat and a proximity switch; the gun changing disk is arranged on one side of the gun changing disk connecting plate, and laser mounting plates are arranged at both ends of the gun changing disk connecting plate, a mechanism mounting base plate is arranged below the gun changing disk, a fixture mounting seat is arranged below the mechanism mounting base plate, a proximity switch is arranged below the fixture mounting seat, a laser positioning mechanism and a fill light photography mechanism are arranged on the laser mounting plate, the laser mounting plate is connected to the top end of the positioning and clamping mechanism, and one end of the clamp mounting seat is connected to the middle position of the positioning and clamping mechanism.

9. The laser-based retrieval positioning and grabbing rear bumper gripper according to claim 1, characterized in that: It also includes a robot, one end of which passes through the gun changing disk connecting plate and is connected to the gun changing disk.

Images