Part centering and grabbing system

Abstract

The invention provides a part centering grabbing system. The part centering grabbing system comprises a mechanical clamping jaw, an X-axis moving device, a Y-axis moving device, a supporting device, an industrial robot and an industrial camera. The mechanical clamping jaws are used for grabbing parts and connected with the X-axis moving device. The Y-axis moving device is connected with the mechanical clamping jaw, and the Y-axis moving device is connected with the X-axis moving device; the supporting device is connected with the X-axis moving device and further connected with the industrial robot, and the industrial robot is connected with the X-axis moving device, the Y-axis moving device and the industrial camera. The industrial camera is used for shooting space information of the part and sending the space information to the industrial robot; and the industrial robot generates grabbing position information according to the space information and controls the X-axis moving device and the Y-axis moving device according to the grabbing position information, so that the mechanical clamping jaw grabs the part. According to the clamping device, the clamping reliability is improved, the clamping device can adapt to parts of different specifications, and the universality of equipment is improved.

Description

Technical Field

[0001] The present application relates to the field of robot technology, and in particular to a part centering grasping system. Background Art

[0002] In the field of automated production, the application of robotics has greatly improved production efficiency and flexibility. Especially in the process of loading and unloading parts, the use of robots has become a general trend; usually, robots grab parts through preset programs.

[0003] However, parts come in a variety of shapes and sizes. If the robot grabs all parts at designated locations through a preset program, the parts will not be grasped firmly and stably. As a result, current robots are unable to adapt to parts of different sizes and shapes, resulting in poor versatility in robot grasping of parts. Summary of the invention

[0004] The present application provides a part centering grasping system to solve the problem that the current robot grasps parts of different shapes and sizes at the same position, resulting in poor grasping firmness and stability of the parts, which in turn causes poor versatility in the robot's grasping of parts.

[0005] The present application provides a part centering grasping system, comprising: two mechanical grippers, an X-axis moving device, two Y-axis moving devices, a supporting device, an industrial robot and an industrial camera;

[0006] The mechanical grippers are used to grasp parts, and the two mechanical grippers are respectively connected to the X-axis moving device, and the X-axis moving device is used to control the two mechanical grippers to move relative to each other and move away from each other on the X-axis;

[0007] One of the Y-axis moving devices is connected to one of the mechanical grippers, and two of the Y-axis moving devices are respectively connected to the X-axis moving devices, and the two Y-axis moving devices are respectively used to control the two mechanical grippers to grasp the parts;

[0008] The supporting device is connected to the X-axis moving device, and the supporting device is also connected to the industrial robot, and the industrial robot is connected to the X-axis moving device, the Y-axis moving device and the industrial camera; the industrial camera is used to capture the spatial information of the part and send the spatial information to the industrial robot;

[0009] The industrial robot generates grasping position information of each mechanical gripper according to the spatial information, and controls the X-axis moving device and the Y-axis moving device according to the grasping position information of each mechanical gripper, so that the mechanical gripper grasps the part.

[0010] In the above solution, the mechanical gripper includes:

[0011] Two mechanical fingers and two mechanical connecting rods; the two mechanical fingers are arranged opposite to each other, the two mechanical fingers are located on both sides of the part, and are used to clamp the part;

[0012] The mechanical finger is used to contact the part, one end of a mechanical connecting rod is connected to a mechanical finger, and the other end of the mechanical connecting rod is connected to a Y-axis moving device.

[0013] In the above scheme, the X-axis moving device includes: an X-axis motor, an X-axis transmission mechanism, and an X-axis screw device; the X-axis screw device includes a screw rod, a left-handed nut and a right-handed nut, the thread on the screw rod includes a left-handed thread and a right-handed thread, the left-handed nut is screwed on the left-handed thread, and the right-handed nut is screwed on the right-handed thread; the axis of the screw rod is the X-axis direction;

[0014] The X-axis motor is fixed on the supporting device, and the X-axis motor is connected to the X-axis transmission mechanism;

[0015] The X-axis screw device is fixed to the bottom of the support device, and the X-axis screw device is connected to the X-axis transmission mechanism;

[0016] The X-axis transmission mechanism is also connected to the screw rod, and the X-axis motor drives the screw rod to rotate through the X-axis transmission mechanism;

[0017] The left-handed nut is connected to one of the Y-axis moving devices, and the right-handed nut is connected to another of the Y-axis moving devices. The lead screw rotates to make the left-handed nut and the right-handed nut move relative to and away from each other in the X-axis direction.

[0018] In the above scheme, the X-axis transmission mechanism includes: an X-axis driving wheel, an X-axis driven wheel and an X-axis coaxial belt;

[0019] The output shaft of the X-axis motor is connected to the X-axis driving wheel, and the X-axis driven wheel is connected to the screw rod;

[0020] The X-axis synchronous belt is sleeved on the X-axis driving wheel and the X-axis driven wheel;

[0021] The X-axis motor drives the lead screw to rotate through the X-axis driving wheel, the X-axis synchronous belt and the X-axis driven wheel.

[0022] In the above scheme, the Y-axis moving device includes: a Y-axis connecting seat, a Y-axis transmission mechanism, two Y-axis connecting blocks and a Y-axis cylinder;

[0023] The top of the Y-axis connecting seat is connected to the X-axis screw device, and the bottom of the Y-axis connecting seat is connected to the Y-axis transmission mechanism;

[0024] The Y-axis connecting seat is connected to the Y-axis transmission mechanism, and the Y-axis transmission mechanism is respectively connected to the two Y-axis connecting blocks;

[0025] The Y-axis cylinder is fixed on the Y-axis transmission mechanism, and the cylinder axis of the Y-axis cylinder is connected to one of the Y-axis connecting blocks; the axis of the Y-axis cylinder is in the Y-axis direction, and the axis of the Y-axis transmission mechanism is in the Y-axis direction; the Y-axis cylinder drives one of the Y-axis connecting blocks to move the two Y-axis connecting blocks in the Y-axis direction.

[0026] In the above scheme, the Y-axis transmission mechanism includes: a Y-axis support plate, two Y-axis synchronous wheels, a Y-axis synchronous belt and at least one Y-axis guide rail;

[0027] The bottom of the Y-axis connecting seat is connected to the Y-axis supporting plate, and the length direction of the Y-axis supporting plate is the Y-axis direction;

[0028] The two Y-axis synchronous wheels are respectively located at the two ends of the Y-axis support plate in the length direction, the two Y-axis synchronous wheels are respectively rotatably connected to the upper surface of the Y-axis support plate, and the Y-axis synchronous belt is sleeved on the two Y-axis synchronous wheels;

[0029] The two Y-axis connecting blocks are symmetrically arranged on both sides of the axis of the X-axis screw device, and the two Y-axis connecting blocks are respectively connected to the Y-axis synchronous belt;

[0030] The Y-axis guide rail is fixed on the lower surface of the Y-axis support plate, and the Y-axis connecting block is movably connected to the Y-axis guide rail;

[0031] The Y-axis cylinder is fixed on the side of the Y-axis support plate, and the Y-axis cylinder is connected to one of the Y-axis connecting blocks.

[0032] In the above solution, the support device comprises: a connection plate, a support box body, and at least one guide track;

[0033] The connection plate is fixed on the top of the supporting box body, and the connection plate is connected to the industrial robot;

[0034] The X-axis motor is fixed inside the supporting box body, and the motor shaft of the X-axis motor passes through the supporting box body and is connected to the X-axis driving wheel;

[0035] The X-axis screw device is fixed to the bottom of the support box body, and the X-axis driven wheel is connected to the screw of the X-axis screw device; the Y-axis support seat of one Y-axis moving device is respectively connected to the left-hand nut in the X-axis screw device, and the Y-axis support seat of the other Y-axis moving device is respectively connected to the right-hand nut in the X-axis screw device, and the left-hand nut and the right-hand nut are on the Y-axis;

[0036] The guide rail is fixed on the bottom of the support box body, and the Y-axis support seats of the two Y-axis moving devices are respectively movably connected to the guide rail.

[0037] In the above solution, the industrial robot comprises: a controller and a manipulator;

[0038] The controller is connected to the industrial camera, and the controller is used to instruct the industrial camera to capture the spatial information of the part and send the spatial information to the industrial robot;

[0039] The controller generates grasping position information according to the spatial information, wherein the grasping position information includes a centering position coordinate and an offset distance;

[0040] The controller is connected to the manipulator, the manipulator is connected to the supporting device, and the controller is used to move the center point of the X-axis moving device to the centering position coordinates through the manipulator;

[0041] The controller is connected to the X-axis motor of the X-axis moving device, and the controller is used to control the two mechanical grippers to move the offset distance in the X-axis direction.

[0042] In the above solution, the controller is connected to the Y-axis cylinder of the Y-axis moving device, and the controller is used to control the Y-axis cylinder to stop according to the clamping pressure fed back by the Y-axis cylinder.

[0043] In the above scheme, the industrial camera includes: a lens, an image sensor, a driving circuit, an image processing module, a conversion circuit, a computing module, a control signal interface and a data transmission interface;

[0044] The lens is used to focus the image of the photographed part onto the image sensor;

[0045] The image sensor is connected to the lens, and the image sensor is used to convert the optical signal into an electrical signal;

[0046] The driving circuit is connected to the image sensor and the conversion circuit, and the driving circuit is used to provide power and control signals to the image sensor and the conversion circuit;

[0047] The image processing module is connected to the image sensor, and is used to convert the analog electrical signal output by the image sensor into a digital electrical signal;

[0048] The conversion circuit is connected to the image processing module, and is used to convert the digital signal output by the digital image processing module into an operating digital signal of a specified format;

[0049] The calculation module is used to obtain the spatial information of the part according to the operation digital signal, and the spatial information includes the size and position of the part;

[0050] The control signal interface is connected to the drive circuit and the industrial robot, the control signal receives a start signal sent by the industrial robot, and the control signal interface is used to provide a control signal to the image processing module and the conversion module through the drive circuit according to the start signal;

[0051] The data transmission interface is connected to the computing module and the industrial robot, and the data transmission interface is used to send the grasping position information to the industrial robot.

[0052] The present application provides a part centering gripping system, which uses two relatively arranged mechanical fingers to grip the parts, thereby ensuring that the parts do not deviate or slide during the gripping process, thereby improving the reliability of gripping.

[0053] The mechanical connecting rod structure can provide a buffering effect, reduce the impact force during clamping, and avoid damage to the surface of the parts. The mechanical fingers suitable for grasping precision parts are connected to the Y-axis moving device through the mechanical connecting rod, so that the gripper has flexible adjustment capabilities in the Y-axis direction to adapt to parts of different sizes. Combined with the Y-axis moving device, the gripper can adapt to parts of different specifications, improve the versatility of the equipment, reduce manual adjustments, and improve production efficiency and equipment intelligence. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0055] Figure 1 A front structural schematic diagram of a part centering gripping system provided in this application;

[0056] Figure 2 A schematic diagram of the three-dimensional structure of a part centering gripping system provided in this application;

[0057] Figure 3A schematic diagram of the three-dimensional structure of a mechanical gripper, an X-axis moving device, a Y-axis moving device and a supporting device in a part centering grasping system provided in the present application;

[0058] Figure 4 A schematic diagram of the side view structure of a mechanical gripper, an X-axis moving device, a Y-axis moving device and a supporting device in a part centering grasping system provided in the present application;

[0059] Figure 5 A front structural schematic diagram of a mechanical gripper, an X-axis moving device, a Y-axis moving device and a supporting device in a part centering grasping system provided in the present application;

[0060] Figure 6 A schematic diagram of the top view of the structure of a mechanical gripper, an X-axis moving device, a Y-axis moving device and a supporting device in a part centering grasping system provided in the present application;

[0061] Figure 7 yes Figure 6 AA section structural diagram;

[0062] Figure 8 This is a schematic structural diagram of an industrial camera in a parts alignment and grasping system provided in this application.

[0063] Reference numerals:

[0064] 1: Mechanical gripper;

[0065] 2: X-axis moving device;

[0066] 3: Y-axis moving device;

[0067] 4: Support device;

[0068] 5: Industrial robots;

[0069] 6: Industrial camera;

[0070] 7: Parts;

[0071] 8: Support table;

[0072] 9: Support frame;

[0073] 11: Mechanical finger;

[0074] 12: Mechanical connecting rod;

[0075] 13: V-groove;

[0076] 21: X-axis motor;

[0077] 22: X-axis transmission mechanism;

[0078] 23: X-axis screw device;

[0079] 221: X-axis driving wheel;

[0080] 222: X-axis driven wheel;

[0081] 223: X-axis coaxial belt;

[0082] 231: screw rod;

[0083] 232: left-hand nut;

[0084] 233: right-hand nut;

[0085] 31: Y-axis connecting seat;

[0086] 32: Y-axis transmission mechanism;

[0087] 33: Y-axis connecting block;

[0088] 34: Y-axis cylinder;

[0089] 321: Y-axis support plate;

[0090] 322: Y-axis synchronous wheel;

[0091] 323: Y-axis synchronous belt;

[0092] 324: Y-axis guide rail;

[0093] 41: connection plate;

[0094] 42: supporting box body;

[0095] 43: guide track;

[0096] 51: controller;

[0097] 52: Robotic arm;

[0098] 61: Lens;

[0099] 62: Image sensor;

[0100] 63: driving circuit;

[0101] 64: image processing module;

[0102] 65: conversion circuit;

[0103] 66: computing module;

[0104] 67: control signal interface;

[0105] 68: Data transmission interface.

[0106] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0107] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the embodiments of the present application as detailed in the appended claims.

[0108] The following specific embodiments are used to describe in detail the technical solutions of the embodiments of the present application and how the technical solutions of the embodiments of the present application solve the current problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0109] See also Figure 1-Figure 8 , the embodiment of the present application provides a part centering grasping system, including: two mechanical grippers 1, an X-axis moving device 2, two Y-axis moving devices 3, a supporting device 4, an industrial robot 5 and an industrial camera 6;

[0110] The mechanical gripper 1 is used to grasp the part 7, and the two mechanical grippers 1 are respectively connected to the X-axis moving device 2, and the X-axis moving device 2 is used to control the two mechanical grippers 1 to move relative to each other and move away from each other on the X-axis;

[0111] One of the Y-axis moving devices 3 is connected to one of the mechanical grippers 1, and two of the Y-axis moving devices 3 are respectively connected to the X-axis moving devices 2, and the two Y-axis moving devices 3 are respectively used to control the two mechanical grippers 1 to grasp the part 7;

[0112] The support device 4 is connected to the X-axis moving device 2, and the support device 4 is also connected to the industrial robot 5, and the industrial robot 5 is connected to the X-axis moving device 2, the Y-axis moving device 3 and the industrial camera 6; the industrial camera 6 is used to capture the spatial information of the part 7 and send the spatial information to the industrial robot 5;

[0113] The industrial robot 5 generates the grasping position information of each of the mechanical grippers 1 according to the spatial information, and controls the X-axis moving device 2 and the Y-axis moving device 3 according to the grasping position information of each of the mechanical grippers 1 , so that the mechanical grippers 1 grasp the part 7 .

[0114] In this example, the spatial information of the part 7 is acquired by the industrial camera 6, and the optimal grasping position information is calculated by the industrial robot 5 to achieve precise centering grasping, thereby improving the degree of automation of the production line. The grasping path is optimized through visual inspection and robot calculation, thereby reducing the position error of the part 7 and improving the processing or assembly accuracy.

[0115] By means of the X-axis moving device 2 and the Y-axis moving device 3, the mechanical gripper 1 can flexibly adjust its position in the X-axis direction and the Y-axis direction to adapt to parts 7 of different sizes and shapes, thereby improving the versatility of the equipment.

[0116] Optionally, the part centering grasping system further includes a support table 8 and a support frame 9; the support table 8 is used to support the part 7 so that the mechanical gripper 1 can grasp the part 7. The top of the support frame 9 is connected to the industrial camera 6, and the industrial camera 6 is located above the support table 8 and the part 7 on the support table 8, ensuring that the industrial camera 6 can take a comprehensive picture of the part 7 as a whole.

[0117] In a preferred embodiment, the mechanical gripper 1 comprises:

[0118] Two mechanical fingers 11 and two mechanical connecting rods 12; the two mechanical fingers 11 are arranged opposite to each other, the two mechanical fingers 11 are located on both sides of the part 7, and are used to clamp the part 7;

[0119] The mechanical finger 11 is used to contact the part 7 , one end of a mechanical connecting rod 12 is connected to the mechanical finger 11 , and the other end of the mechanical connecting rod 12 is connected to the Y-axis moving device 3 .

[0120] In this example, two oppositely arranged mechanical fingers 11 are used to clamp the part 7, thereby ensuring that the part 7 does not deviate or slide during the clamping process, thereby improving the reliability of clamping.

[0121] The mechanical connecting rod 12 structure can provide a buffering effect, reduce the impact force during clamping, and avoid damage to the surface of the part 7. The gripping mechanical finger 11 suitable for the precision part 7 is connected to the Y-axis moving device 3 through the mechanical connecting rod 12, so that the clamp has flexible adjustment capabilities in the Y-axis direction to adapt to parts 7 of different sizes. Combined with the Y-axis moving device 3, the clamp can adapt to parts 7 of different specifications, reduce manual adjustments, and improve production efficiency and equipment intelligence.

[0122] Optionally, the robotic finger 11 has at least one V-groove 13; the robotic finger 11 has at least one V-groove 13, so that it can better fit parts 7 of different geometric shapes (such as cylindrical, prismatic, etc.) and enhance the clamping force.

[0123] Optionally, the mechanical finger 11 is made of high-strength, wear-resistant materials, such as high-strength alloy steel or special alloy, to ensure sufficient clamping force and service life. To avoid damaging the part 7, the clamping surface of the mechanical finger 11 can be equipped with a rubber cushion or a foam rubber layer to increase the friction coefficient and protect the surface of the part 7. At the same time, the finger structure can be designed to have a certain elasticity or deflection to adapt to parts 7 of different shapes and sizes.

[0124] The mechanical connecting rod 12 can be in the form of a connecting rod, which is formed by connecting two or more rod-shaped components. One end is connected to the mechanical finger 11, and the other end is connected to the Y-axis moving device 3. The mechanical connecting rod 12 is made of high-strength, wear-resistant materials to ensure the stability and reliability of power transmission. The connecting rod can be connected to the mechanical finger 11 and the Y-axis moving device 3 by hinge connection or bolt connection, etc., for easy installation and adjustment.

[0125] This solution is suitable for various occasions that require precise gripping and moving of parts 7, such as automated production lines, machining centers, semiconductor manufacturing and other fields. Its advantages are simple and compact structure, easy installation and adjustment; stable and reliable gripping force, able to adapt to parts 7 of different shapes and sizes; precise and flexible control system, capable of realizing automated and intelligent operation.

[0126] In a preferred embodiment, the X-axis moving device 2 includes: an X-axis motor 21, an X-axis transmission mechanism 22, and an X-axis screw device 23; the X-axis screw device 23 includes a screw rod 231, a left-handed nut 232 and a right-handed nut 233, the thread on the screw rod 231 includes a left-handed thread and a right-handed thread, the left-handed nut 232 is screwed on the left-handed thread, and the right-handed nut 233 is screwed on the right-handed thread; the axis of the screw rod 231 is the X-axis direction;

[0127] The X-axis motor 21 is fixed on the supporting device 4, and the X-axis motor 21 is connected to the X-axis transmission mechanism 22;

[0128] The X-axis screw device 23 is fixed to the bottom of the support device 4, and the X-axis screw device 23 is connected to the X-axis transmission mechanism 22;

[0129] The X-axis transmission mechanism 22 is also connected to the screw rod 231, and the X-axis motor 21 drives the screw rod 231 to rotate through the X-axis transmission mechanism 22;

[0130] The left-handed nut 232 is connected to one of the Y-axis moving devices 3, and the right-handed nut 233 is connected to another of the Y-axis moving devices 3. The screw rod 231 rotates to make the left-handed nut 232 and the right-handed nut 233 move relative to and away from each other in the X-axis direction.

[0131] In this example, the X-axis motor 21 rotates the screw 231 in the X-axis screw device 23 through the X-axis transmission mechanism 22; when the screw 231 rotates to the left, the left-handed nut 232 and the right-handed nut 233 move relative to each other, thereby causing the two Y-axis moving devices 3 to respectively drive the two mechanical clamps 1 to move relative to each other; when the screw 231 rotates to the right, the left-handed nut 232 and the right-handed nut 233 move away from each other, thereby causing the two Y-axis moving devices 3 to respectively drive the two mechanical clamps 1 to move away from each other; so as to adjust the distance between the two mechanical clamps 1, thereby adapting to the clamping requirements of parts 7 of different sizes.

[0132] The screw rod 231 is made of high-strength, wear-resistant and corrosion-resistant materials, such as stainless steel, alloy steel, etc., to ensure the durability and precision of the screw rod 231. The screw rod 231 is respectively designed with left-handed threads and right-handed threads, which is the key to realize the relative and opposite movement of the left-handed nut 232 and the right-handed nut 233.

[0133] The left-handed nut 232 and the right-handed nut 233 match the screw rod 231 to ensure good thread matching and wear resistance. The left-handed nut 232 is screwed on the left-handed thread of the screw rod 231, and the right-handed nut 233 is screwed on the right-handed thread. When the screw rod 231 rotates, the two nuts will move relative to or opposite to each other along the screw rod 231 in the X-axis direction.

[0134] The support device 4 is used to fix the X-axis motor 21, the X-axis transmission mechanism 22 and the X-axis screw device 23 to ensure the stability and accuracy of the entire mobile device.

[0135] Through precise thread design and transmission mechanism, high-precision movement in the X-axis direction can be achieved. This is crucial for automated equipment that requires precise control. The use of efficient transmission mechanisms and motors can ensure the efficiency and stability of power transmission. This helps to reduce energy consumption and improve production efficiency. The design of the left-handed nut 232 and the right-handed nut 233 allows the two Y-axis moving devices 3 to move relative to or away from each other, increasing the flexibility of the device. This design can meet the needs of different working scenarios. In order to maintain a good fit between the screw and the nut and reduce wear, lubricant needs to be added regularly. In order to prevent dust and debris from entering the interior of the screw device, dust prevention measures need to be taken, such as installing a dust cover or a sealing ring.

[0136] In a preferred embodiment, the X-axis transmission mechanism 22 includes: an X-axis driving wheel 221, an X-axis driven wheel 222 and an X-axis coaxial belt 223;

[0137] The output shaft of the X-axis motor 21 is connected to the X-axis driving wheel 221, and the X-axis driven wheel 222 is connected to the screw rod 231;

[0138] The X-axis synchronous belt is sleeved on the X-axis driving wheel 221 and the X-axis driven wheel 222;

[0139] The X-axis motor 21 drives the screw rod 231 to rotate through the X-axis driving wheel 221 , the X-axis synchronous belt and the X-axis driven wheel 222 .

[0140] In this example, the X-axis motor 21 drives the X-axis driving wheel 221 and the synchronous belt, and then the X-axis driven wheel 222 drives the X-axis screw device 23 to rotate, thereby realizing precise control of the two mechanical clamps 1. This design ensures that the distance between the clamps can be adjusted according to needs to adapt to the clamping of parts 7 of different sizes.

[0141] By using the X-axis lead screw device 23 to drive the Y-axis moving device 3 to move relative to and opposite to each other in the X-axis direction, the precision error caused by the traditional gear transmission can be effectively avoided, providing higher stability and accuracy. The combination of the lead screw and the synchronous belt makes the transmission efficiency of the system higher during the driving process. At the same time, the direct contact gear parts are reduced through the synchronous belt and lead screw transmission, which helps to reduce mechanical wear in long-term operation and extend the service life of the equipment; and the lead screw transmission system has a high load-bearing capacity, which can effectively support the stable operation of the mechanical gripper 1 under various working conditions and ensure the reliability of the clamping process.

[0142] The X-axis driving wheel 221 is an active component in the transmission mechanism. It is directly connected to the output shaft of the X-axis motor 21 and is responsible for receiving the rotational power of the motor. The driving wheel is usually made of high-strength, wear-resistant materials such as alloy steel or cast iron to ensure its durability and precision. At the same time, the gear design of the driving wheel needs to match the tooth shape of the synchronous belt to achieve efficient transmission. The driving wheel is tightly connected to the output shaft of the X-axis motor 21 by key connection or pin connection to ensure the smooth transmission of power.

[0143] The X-axis driven wheel 222 is a driven component in the transmission mechanism. It is connected to the screw 231 and is responsible for transmitting the rotational power transmitted from the driving wheel to the screw 231. The material and design of the driven wheel are similar to those of the driving wheel, and also need to have high strength and wear resistance. At the same time, the gear teeth of the driven wheel need to match the tooth profile of the synchronous belt to achieve smooth transmission. The driven wheel is connected to the screw 231 through components such as couplings and bearings to ensure the transmission of power and the smooth rotation of the screw 231.

[0144] The X-axis synchronous belt is a transmission component in the transmission mechanism. It is mounted on the driving wheel and the driven wheel, and is responsible for transmitting the rotational power of the driving wheel to the driven wheel, thereby driving the screw 231 to rotate. The synchronous belt is usually made of high-strength, wear-resistant, and tensile-resistant materials, such as polyester fiber, chloroprene rubber, etc., to ensure its durability and transmission efficiency. The tooth shape of the synchronous belt needs to match the teeth of the driving wheel and the driven wheel to achieve smooth and non-slip transmission. The tension of the synchronous belt needs to be adjusted appropriately to ensure its close fit with the driving wheel and the driven wheel to avoid loosening or slipping during the transmission process.

[0145] When the X-axis motor 21 is started, its output shaft drives the driving wheel to rotate. The rotation of the driving wheel is transmitted to the driven wheel through the synchronous belt, thereby driving the screw rod 231 to rotate. Since the synchronous belt has high strength and tensile resistance, the stability and accuracy of the transmission can be ensured.

[0146] In a preferred embodiment, the Y-axis moving device 3 comprises: a Y-axis connecting seat 31, a Y-axis transmission mechanism 32, two Y-axis connecting blocks 33 and a Y-axis cylinder 34;

[0147] The top of the Y-axis connecting seat 31 is connected to the X-axis screw device 23, and the bottom of the Y-axis connecting seat 31 is connected to the Y-axis transmission mechanism 32;

[0148] The Y-axis connecting seat 31 is connected to the Y-axis transmission mechanism 32, and the Y-axis transmission mechanism 32 is connected to the two Y-axis connecting blocks 33 respectively;

[0149] The Y-axis cylinder 34 is fixed on the Y-axis transmission mechanism 32, and the cylinder axis of the Y-axis cylinder 34 is connected to one of the Y-axis connecting blocks 33; the axis of the Y-axis cylinder 34 is in the Y-axis direction, and the axis of the Y-axis transmission mechanism 32 is in the Y-axis direction; the Y-axis cylinder 34 drives one of the Y-axis connecting blocks 33 to move the two Y-axis connecting blocks 33 in the Y-axis direction.

[0150] In this example, the Y-axis moving device 3 drives the Y-axis connecting block 33 through the Y-axis cylinder 34 , and under the guidance of the Y-axis transmission mechanism 32 , achieves precise movement along the Y-axis direction.

[0151] The connection between the Y-axis connecting seat 31 and the X-axis screw device 23, the connection between the Y-axis transmission mechanism 32 and the Y-axis connecting block 33, etc., enhance the stability and rigidity of the entire Y-axis moving device 3, ensuring that it can still maintain high precision and low error during high-speed movement. In addition, by enhancing the stability and rigidity of the structure, the Y-axis moving device 3 can withstand greater loads and impacts, thereby enhancing the reliability and durability of the device. This helps to extend the service life of the equipment and reduce maintenance and replacement costs.

[0152] The Y-axis connecting seat 31 is a key component in the Y-axis moving device 3. It is responsible for connecting the X-axis screw device 23 with the Y-axis transmission mechanism 32 to achieve motion conversion between the X-axis and the Y-axis. The connecting seat is usually made of high-strength, corrosion-resistant materials, such as aluminum alloy or stainless steel, to ensure its durability and precision. The connecting seat is designed with an interface that matches the X-axis screw device 23 and the Y-axis transmission mechanism 32 to ensure the stability and precision of the connection. The connecting seat is connected to the left-handed nut 232 or the right-handed nut 233 of the X-axis screw device 23 by bolts or other fasteners, and is tightly connected to the Y-axis transmission mechanism 32 by pin connection, key connection or bolt connection.

[0153] The Y-axis connecting block 33 is a moving part in the Y-axis moving device 3. They are respectively connected to both sides of the Y-axis transmission mechanism 32 and are moved in the Y-axis direction by the drive of the transmission mechanism. The connecting block is usually made of lightweight, high-strength materials, such as aluminum alloy or magnesium alloy, to reduce motion inertia and improve response speed. The connecting block is designed with an interface that matches the transmission mechanism and an interface connected to the load. One of the connecting blocks is connected to the cylinder shaft of the Y-axis cylinder 34 in some way, and the other connecting block is indirectly connected to the cylinder through the transmission mechanism. When the cylinder shaft is extended or retracted, it will drive the connecting block connected to it to move, and then drive the other connecting block to move synchronously through the transmission mechanism.

[0154] The Y-axis cylinder 34 is the power source in the Y-axis moving device 3, and is responsible for providing the necessary driving force to drive the Y-axis connecting block 33 to move in the Y-axis direction. According to the load requirements, moving speed and accuracy requirements, select the appropriate cylinder type, such as single-acting cylinder, double-acting cylinder, etc. The stroke and thrust of the cylinder need to meet the design requirements. The cylinder is fixed to the Y-axis transmission mechanism 32 by bolts or other fasteners to ensure that it does not shake or shift during operation. The axis of the cylinder needs to be consistent with the Y-axis direction to ensure the accuracy of the movement.

[0155] In a preferred embodiment, the Y-axis transmission mechanism 32 includes: a Y-axis support plate 321, two Y-axis synchronous wheels 322, a Y-axis synchronous belt 323 and at least one Y-axis guide rail 324;

[0156] The bottom of the Y-axis connecting seat 31 is connected to the Y-axis supporting plate 321, and the length direction of the Y-axis supporting plate 321 is the Y-axis direction;

[0157] The two Y-axis synchronous wheels 322 are respectively located at the two ends of the length direction of the Y-axis support plate 321, and the two Y-axis synchronous wheels 322 are respectively rotatably connected to the upper surface of the Y-axis support plate 321, and the Y-axis synchronous belt 323 is sleeved on the two Y-axis synchronous wheels 322;

[0158] The two Y-axis connection blocks 33 are symmetrically arranged on both sides of the axis of the X-axis lead screw device 23, and the two Y-axis connection blocks 33 are respectively connected to the Y-axis synchronous belt 323;

[0159] The Y-axis guide rail 324 is fixed on the lower surface of the Y-axis support plate 321, and the Y-axis connecting block 33 is movably connected to the Y-axis guide rail 324;

[0160] The Y-axis cylinder 34 is fixed on the side of the Y-axis support plate 321 , and the Y-axis cylinder 34 is connected to one of the Y-axis connecting blocks 33 .

[0161] In this example, through the connection between the X-axis screw device 23 and the Y-axis connecting seat 31, the Y-axis support plate 321 has good linkage and adaptability in both the X-axis and Y-axis directions, and can adjust the size or dynamic range of the working area according to actual needs, which is particularly suitable for processing parts 7 of various sizes and types. The design of the Y-axis synchronous wheel 322 and the synchronous belt ensures the stability and accuracy of the Y-axis support plate 321 during movement. Through this synchronous transmission mode, when the Y-axis cylinder 34 controls the movement of a Y-axis connecting block 33, the two Y-axis connecting blocks 33 can move relative to each other and move in opposite directions at the same speed, so that the two mechanical fingers 11 can accurately overlap the plane where the center line of the part 7 is located with the plane where the axis of the X-axis screw device 23 is located, so that the center of gravity of the part 7 and the center of gravity of the mechanical body composed of the mechanical gripper 1, the X-axis moving device 2, the Y-axis moving device 3, and the support are on the same vertical line, ensuring the transportation stability of the part 7.

[0162] By setting the Y-axis guide rail 324 on the Y-axis support plate 321, the Y-axis connecting block 33 is slidably connected to the guide rail, ensuring that the Y-axis connecting block 33 runs smoothly under different loads, effectively reducing the swing or tilt of the system, ensuring high-precision movement, and being suitable for automation tasks that require high precision. At the same time, the addition of the Y-axis cylinder 34 further enhances the stability and reliability of the system when dealing with large loads or faster dynamic requirements. The use of the Y-axis guide rail 324 and the Y-axis synchronous belt 323 reduces direct metal-to-metal friction, thereby reducing wear and extending the service life of the system. The transmission efficiency of the synchronous belt is high, which reduces energy loss and ensures the stability of the long-term operation of the system.

[0163] The Y-axis support plate 321 is the basic component of the Y-axis transmission mechanism 32, which provides a platform for supporting and fixing other components. The support plate is usually made of high-strength, corrosion-resistant materials, such as aluminum alloy or stainless steel, to ensure its durability and precision. The length direction of the support plate needs to be consistent with the Y-axis direction in order to achieve movement in the Y-axis direction. The top of the support plate is connected to the bottom of the Y-axis connecting seat 31 to ensure the stable connection between the Y-axis moving device 3 and the transmission mechanism. At the same time, a Y-axis guide rail 324 is fixed to the lower surface of the support plate to provide a moving track for the Y-axis connecting block 33.

[0164] The Y-axis synchronous wheels 322 are key components in the Y-axis transmission mechanism 32, which are responsible for supporting and driving the Y-axis synchronous belt 323. The synchronous wheels are usually made of wear-resistant and corrosion-resistant materials, such as bearing steel or stainless steel. The wheel groove of the synchronous wheel needs to match the tooth shape of the Y-axis synchronous belt 323 to achieve smooth and non-slip transmission. The two synchronous wheels are respectively located at both ends of the support plate in the length direction, and are rotatably connected to the upper surface of the support plate through bearings and other components. Ensure that the synchronous wheels can maintain stability and accuracy during rotation.

[0165] The Y-axis synchronous belt 323 is a transmission component in the Y-axis transmission mechanism 32. It is sleeved on two synchronous wheels and is responsible for transmitting the driving force of the Y-axis cylinder 34 to the Y-axis connecting block 33. The synchronous belt is usually made of high-strength, wear-resistant, and tensile-resistant materials, such as polyester fiber, chloroprene rubber, etc. The tooth shape of the synchronous belt needs to match the wheel groove of the synchronous wheel to achieve smooth and non-slip transmission. At the same time, the length and width of the synchronous belt need to be selected according to the design requirements to ensure the stability and accuracy of the transmission.

[0166] The Y-axis connecting block 33 is a moving part in the Y-axis moving device 3. They are respectively connected to both sides of the Y-axis synchronous belt 323 and move in the Y-axis direction through the drive of the synchronous belt. The connecting block is usually made of lightweight, high-strength materials, such as aluminum alloy or magnesium alloy. The connecting block is designed with an interface that matches the synchronous belt and an interface that is connected to the load. The two connecting blocks are symmetrically arranged on both sides of the axis of the X-axis screw device 23 and are connected to the Y-axis synchronous belt 323 in some way. When the synchronous belt rotates under the drive of the synchronous wheel, it will drive the connecting block to move in the Y-axis direction. At the same time, the connecting block is also movably connected to the Y-axis guide rail 324 to ensure the stability and accuracy of the movement. The Y-axis connecting block 33 is an L-shaped structure, the vertical part of the Y-axis connecting block 33 is connected to the Y-axis cylinder 34, and the upper surface of the horizontal part of the Y-axis connecting block 33 is movably connected to the Y-axis guide rail 324 through a slider.

[0167] The Y-axis guide rail 324 provides a moving track for the Y-axis connecting block 33 to ensure the smooth movement of the connecting block in the Y-axis direction. The guide rail is usually made of high-strength, wear-resistant materials, such as cast iron or stainless steel. The cross-sectional shape and size of the guide rail need to be selected according to the design requirements to ensure the stability and accuracy of the connection. The guide rail is fixed on the lower surface of the Y-axis support plate 321 and is movably connected to the connecting block through components such as sliders. Ensure that the connecting block can maintain stability and accuracy during movement.

[0168] The Y-axis cylinder 34 is the power source in the Y-axis moving device 3, and is responsible for providing the necessary driving force to drive the Y-axis connecting block 33 to move in the Y-axis direction. According to the load requirements, moving speed and accuracy requirements, select the appropriate cylinder type, such as single-acting cylinder, double-acting cylinder, etc. The stroke and thrust of the cylinder need to meet the design requirements. The cylinder is fixed on the side of the Y-axis support plate 321 and is connected to a Y-axis connecting block 33 through the cylinder shaft. When the cylinder shaft is extended and retracted, it will drive the connecting block connected to it to move, and then drive another connecting block to move synchronously through the cooperation of the synchronous belt and the guide rail.

[0169] In a preferred embodiment, the support device 4 comprises: a connection plate 41, a support box body 42, and at least one guide track 43;

[0170] The connection plate 41 is fixed on the top of the support box 42, and the connection plate 41 is connected to the industrial robot 5;

[0171] The X-axis motor 21 is fixed inside the support box body 42, and the motor shaft of the X-axis motor 21 passes through the support box body 42 and is connected to the X-axis driving wheel 221;

[0172] The X-axis screw device 23 is fixed to the bottom of the support box body 42, and the X-axis driven wheel 222 is connected to the screw 231 of the X-axis screw device 23; one Y-axis support seat of the Y-axis moving device 3 is respectively connected to the left-handed nut 232 in the X-axis screw device 23, and the other Y-axis support seat of the Y-axis moving device 3 is respectively connected to the right-handed nut 233 in the X-axis screw device 23, and the left-handed nut 232 and the right-handed nut 233 are on the Y-axis;

[0173] The guide rail 43 is fixed to the bottom of the support box 42 , and the Y-axis support seats of the two Y-axis moving devices 3 are movably connected to the guide rail 43 .

[0174] In this example, the stability of the X-axis drive and transmission system is ensured by fixing the X-axis motor 21 and the X-axis lead screw device 23 in the support box 42. This stable structure can reduce vibration, improve the accuracy of the entire system, and ensure that the device can achieve high-precision movements during operation.

[0175] The design of the guide rail 43 and the Y-axis support seat solves the problem of load support and motion guidance. The guide rail 43 is fixed to the bottom of the support box 42, which can ensure the smooth and accurate guidance of the Y-axis support seat during movement, reduce the offset and instability during operation, and ensure that even under a large load, the Y-axis support seat can still move smoothly on the guide rail, avoiding possible tilting or deviation from the track. This design is particularly important for automation systems that require high loads.

[0176] The support device 4 integrates the X-axis motor 21, the lead screw device and the Y-axis support seat in a compact support box 42, making the entire transmission system more stable during operation and avoiding errors or inaccurate movements caused by unstable support. The overall accuracy and reliability of the equipment operation are improved, and the space of the entire device is optimized, which is conducive to improving the overall structural compactness of the equipment and saving installation space.

[0177] Therefore, this example not only ensures efficient and smooth operation, but also optimizes space utilization and simplifies the installation and maintenance process. This design makes the entire system more reliable and adaptable, able to meet the needs of different working conditions and loads in industrial automation, and has high practicality and long-term use value.

[0178] The connecting plate 41 is a connecting component between the supporting device 4 and the industrial robot 5, and is responsible for fixing the industrial robot 5 to the supporting device 4. The connecting plate 41 is usually made of high-strength, corrosion-resistant materials, such as cast steel or stainless steel, to ensure its durability and load-bearing capacity. The connecting plate 41 is designed with interfaces that match the industrial robot 5, such as bolt holes, flanges, etc., so as to achieve a stable connection with the industrial robot 5. The connecting plate 41 is fixed to the top of the supporting box body 42 by bolts or other fasteners to ensure the stability and accuracy of the connection between the industrial robot 5 and the supporting device 4.

[0179] The support box 42 is the main part of the support device 4, which provides a space for installing and protecting the internal components. The support box 42 is usually made of a strong and durable material, such as aluminum alloy or stainless steel. The shape and size of the box need to be designed according to the layout and size of the internal components to ensure that all components can be installed and operated correctly.

[0180] The guide rail 43 provides precise guidance and support for the Y-axis moving device 3, ensuring its smooth movement in the X-axis direction. The guide rail 43 is usually made of high-strength, wear-resistant materials, such as cast iron or stainless steel. The cross-sectional shape and size of the rail need to be designed according to the movement requirements and precision requirements of the Y-axis moving device 3. The guide rail 43 is fixed to the bottom of the support box body 42 and is stably connected to the box body by bolts or other fasteners. The Y-axis support seat of the Y-axis moving device 3 is movably connected to the guide rail 43 through components such as sliders, ensuring the smooth movement and precision of the Y-axis moving device 3 in the X-axis direction.

[0181] In a preferred embodiment, the industrial robot 5 comprises: a controller 51 and a manipulator 52;

[0182] The controller 51 is connected to the industrial camera 6, and the controller 51 is used to instruct the industrial camera 6 to capture the spatial information of the part 7 and send the spatial information to the industrial robot 5;

[0183] The controller 51 generates grasping position information according to the spatial information, wherein the grasping position information includes centering position coordinates and offset distance;

[0184] The controller 51 is connected to the manipulator 52, and the manipulator 52 is connected to the supporting device 4, and the controller 51 is used to move the center point of the X-axis moving device 2 to the centering position coordinate through the manipulator 52;

[0185] The controller 51 is connected to the X-axis motor 21 of the X-axis moving device 2 , and the controller 51 is used to control the two mechanical grippers 1 to move the offset distance in the X-axis direction.

[0186] In this example, by connecting the industrial camera 6 to the controller 51, the controller 51 can generate the grasping position information based on the captured spatial information. This solves the problem that the industrial robot 5 needs to accurately position the part 7 when processing it, ensuring that the robot can accurately identify the position and posture of the part 7, thereby achieving a higher precision grasping.

[0187] The controller 51 generates the centering position coordinates and the offset distance according to the spatial information provided by the camera, and can automatically adjust the grasping position of the manipulator 52. This automatic centering and offset adjustment mechanism reduces manual intervention, improves operating efficiency, and can flexibly adapt between parts 7 of different sizes and shapes.

[0188] The controller 51 can accurately control the mechanical gripper 1 to move a corresponding offset distance in the X-axis direction by connecting with the X-axis motor 21, ensuring that the mechanical gripper 1 can be accurately adjusted to an ideal position during the grasping process, thereby completing a high-precision grasping task; and, since the controller 51 can receive and process spatial information in real time, it can instruct the manipulator 52 to respond quickly and accurately, thereby improving the response speed of the industrial robot 5. The robot can complete accurate positioning and grasping actions in a short time after the part 7 is identified, thereby improving production efficiency.

[0189] In this example, the controller 51 uses the spatial information provided by the image signal to accurately calculate the grasping position information. The industrial robot 5 can accurately locate the grasping position of the part 7 according to the real-time data provided by the camera, thereby avoiding grasping failure or damage to the part 7 due to inaccurate positioning; wherein, the controller 51 generates the grasping position information based on the actual photographed part 7 information, so that the industrial camera 6 system can adapt to parts 7 of different sizes, shapes and characteristics.

[0190] The controller 51 has one or more of a geometric transformation and matching model, a machine learning model, a visual servoing model, a template matching and shape analysis model, and a matching and positioning model based on feature points;

[0191] The geometric transformation and matching model matches the objects in the image with the preset template or model by performing geometric transformations (such as translation, rotation, scaling, etc.). After the match is successful, the precise position of the object in the image can be calculated to determine the grasping point. It is suitable for objects with regular shapes and obvious features.

[0192] Machine learning models use deep learning algorithms (such as convolutional neural networks (CNNs)) to classify and identify images. Through training, the model can learn the characteristics of different objects and accurately identify these objects in new images. After identifying the object, the grasping position can be determined by calculating the object's center of mass, edges and other features. It is suitable for objects with complex shapes and diverse features, and has high recognition accuracy and generalization ability.

[0193] The visual servo model processes image information in real time to adjust the robot's motion trajectory and grasping position to achieve precise grasping. This method requires high computing resources and real-time requirements, but can achieve more flexible and precise grasping operations.

[0194] The template matching and shape analysis model predefines a series of templates, each corresponding to the shape and size of a part 7. The object that best matches the template is searched in the real-time image and its position is calculated. It is suitable for parts 7 with relatively fixed shapes and sizes.

[0195] The matching and positioning model based on feature points extracts key feature points (such as corner points, edge points, etc.) from the image, and uses feature point matching algorithms (such as SIFT, SURF, etc.) to find the object that best matches the preset feature point set in the real-time image, and calculates the object's position and posture based on the matching results.

[0196] In a preferred embodiment, the controller 51 is connected to the Y-axis cylinder 34 of the Y-axis moving device 3 , and the controller 51 is used to control the Y-axis cylinder 34 to stop according to the clamping pressure fed back by the Y-axis cylinder 34 .

[0197] In this example, the traditional mechanical gripper 1 may have the problem of clamping too tight or too loose, resulting in damage to the part 7 or loose clamping, but this design can avoid these problems and ensure that the clamping force is always within an appropriate range. Therefore, by connecting the controller 51 with the Y-axis cylinder 34 and controlling the clamping pressure fed back by the cylinder, the clamping force can be precisely adjusted, avoiding excessive clamping or excessive force during the clamping process, protecting the safety of the clamped part 7, especially when grasping fragile or easily damaged parts 7, ensuring that they are not damaged.

[0198] In a preferred embodiment, the industrial camera 6 includes: a lens 61, an image sensor 62, a driving circuit 63, an image processing module 64, a conversion circuit 65, a calculation module 66, a control signal interface 67 and a data transmission interface 68;

[0199] The lens 61 is used to focus the image of the photographed part 7 onto the image sensor 62 .

[0200] The image sensor 62 is connected to the lens 61, and the image sensor 62 is used to convert the optical signal into an electrical signal;

[0201] The driving circuit 63 is connected to the image sensor 62 and the conversion circuit 65, and the driving circuit 63 is used to provide power and control signals to the image sensor 62 and the conversion circuit 65;

[0202] The image processing module 64 is connected to the image sensor 62, and the image processing module 64 is used to convert the analog electrical signal output by the image sensor 62 into a digital electrical signal;

[0203] The conversion circuit 65 is connected to the image processing module 64, and the conversion circuit 65 is used to convert the digital signal output by the digital image processing module 64 into an operating digital signal of a specified format;

[0204] The calculation module 66 is used to obtain the spatial information of the part 7 according to the operation digital signal, and the spatial information includes the size and position of the part 7;

[0205] The control signal interface 67 is connected to the drive circuit 63 and the industrial robot 5, and the control signal receives a start signal sent by the industrial robot 5. The control signal interface 67 is used to provide a control signal to the image processing module 64 and the conversion module through the drive circuit 63 according to the start signal;

[0206] The data transmission interface 68 is connected to the calculation module 66 and the industrial robot 5 , and the data transmission interface 68 is used to send the grasping position information to the industrial robot 5 .

[0207] In this example, the industrial camera 6 accurately captures and processes the image of the part 7 through components such as the lens 61, the image sensor 62, and the image processing module 64. This design makes the process from focusing to processing more efficient, and can provide the required image information of the part 7 in a very short time, providing accurate data for subsequent size and position information calculations.

[0208] The analog signal can be converted into a standard digital signal through the image processing module 64 and the conversion circuit 65, and further converted into a format that meets the system requirements. This design ensures that the transmission and processing of image information remain consistent in different systems and applications, avoiding the problem of incompatible signal formats.

[0209] The control signal interface 67 is connected to the driving circuit 63 and the industrial robot 5, and can receive the start signal sent by the industrial robot 5, and provide the necessary control signal to the image processing module 64 and the conversion circuit 65 through the driving circuit 63. The coordinated operation between the industrial camera 6 system and the robot is ensured, and the shooting, processing and calculation tasks can be started according to actual needs.

[0210] The calculation module 66 uses the size information and position information provided by the image signal to accurately calculate the grasping position information. The industrial robot 5 can accurately locate the grasping position of the part 7 according to the real-time data provided by the camera, avoiding grasping failure or damage to the part 7 due to inaccurate positioning; wherein, the calculation module 66 generates the grasping position information according to the actual photographed part 7 information, so that the industrial camera 6 system can adapt to parts 7 of different sizes, shapes and features. This design makes the system highly adaptable in a variety of production environments.

[0211] The calculation module 66 receives the digital signals from the image sensor 62 or the camera, and performs preprocessing on the digital signals, such as denoising, contrast enhancement, etc., to improve the accuracy of subsequent processing; in the preprocessed image, the calculation module 66 uses image processing algorithms (such as edge detection, corner detection, etc.) to extract the features of the part 7. Based on the extracted features, the calculation module 66 uses geometric transformation, matching algorithms and other technologies to determine the position of the part 7 in the image; at the same time, by measuring the relative distance or angle between the features, the actual size of the part 7 can be inferred; and then the spatial information of the part 7 is calculated.

[0212] The industrial camera 6 and the industrial robot 5 achieve precise collaborative work through the control signal interface 67. The camera system can start working according to the start signal of the robot, and feed back the grasping position information to the robot according to the needs of the robot, ensuring the smooth coordination of the entire automation system.

[0213] The addition of the data transmission interface 68 enables the grasping position information to be quickly transmitted from the computing module 66 to the industrial robot 5, ensuring that the information is transmitted in a timely and correct manner. High-speed data transmission reduces the waiting time for the robot to process the grasping task and improves the overall work efficiency.

[0214] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0215] Those skilled in the art will readily come to other embodiments of the present application embodiments after considering the specification and practicing the invention disclosed herein. The present application embodiments are intended to cover any variations, uses or adaptations of the present application embodiments, which follow the general principles of the present application embodiments and include common knowledge or customary technical means in the art that are not disclosed in the present application embodiments. The specification and embodiments are intended to be exemplary only, and the true scope and spirit of the present application embodiments are indicated by the following claims.

[0216] It should be understood that the embodiments of the present application are not limited to the precise structures described above and shown in the drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the embodiments of the present application is limited only by the appended claims.

Claims

1. A part centering gripping system, characterized in that: include: Two mechanical grippers, an X-axis moving device, two Y-axis moving devices, a support device, an industrial robot and an industrial camera; The mechanical grippers are used to grasp parts, and the two mechanical grippers are respectively connected to the X-axis moving device, and the X-axis moving device is used to control the two mechanical grippers to move relative to each other and move away from each other on the X-axis; One of the Y-axis moving devices is connected to one of the mechanical grippers, and two of the Y-axis moving devices are respectively connected to the X-axis moving devices, and the two Y-axis moving devices are respectively used to control the two mechanical grippers to grasp the parts; The supporting device is connected to the X-axis moving device, and the supporting device is also connected to the industrial robot, and the industrial robot is connected to the X-axis moving device, the Y-axis moving device and the industrial camera; the industrial camera is used to capture the spatial information of the part and send the spatial information to the industrial robot; The industrial robot generates grasping position information of each mechanical gripper according to the spatial information, and controls the X-axis moving device and the Y-axis moving device according to the grasping position information of each mechanical gripper, so that the mechanical gripper grasps the part.

2. The part centering gripping system according to claim 1, characterized in that: The mechanical gripper comprises: Two mechanical fingers and two mechanical connecting rods; the two mechanical fingers are arranged opposite to each other, the two mechanical fingers are located on both sides of the part, and are used to clamp the part; The mechanical finger is used to contact the part, one end of a mechanical connecting rod is connected to a mechanical finger, and the other end of the mechanical connecting rod is connected to a Y-axis moving device.

3. The part centering gripping system according to claim 1, characterized in that: The X-axis moving device comprises: an X-axis motor, an X-axis transmission mechanism, and an X-axis screw device; the X-axis screw device comprises a screw rod, a left-handed nut and a right-handed nut, the thread on the screw rod comprises a left-handed thread and a right-handed thread, the left-handed nut is screwed on the left-handed thread, and the right-handed nut is screwed on the right-handed thread; the axis of the screw rod is the X-axis direction; The X-axis motor is fixed on the supporting device, and the X-axis motor is connected to the X-axis transmission mechanism; The X-axis screw device is fixed to the bottom of the support device, and the X-axis screw device is connected to the X-axis transmission mechanism; The X-axis transmission mechanism is also connected to the screw rod, and the X-axis motor drives the screw rod to rotate through the X-axis transmission mechanism; The left-handed nut is connected to one of the Y-axis moving devices, and the right-handed nut is connected to another of the Y-axis moving devices. The lead screw rotates to make the left-handed nut and the right-handed nut move relative to and away from each other in the X-axis direction.

4. The part centering gripping system according to claim 3, characterized in that: The X-axis transmission mechanism comprises: an X-axis driving wheel, an X-axis driven wheel and an X-axis coaxial belt; The output shaft of the X-axis motor is connected to the X-axis driving wheel, and the X-axis driven wheel is connected to the screw rod; The X-axis synchronous belt is sleeved on the X-axis driving wheel and the X-axis driven wheel; The X-axis motor drives the lead screw to rotate through the X-axis driving wheel, the X-axis synchronous belt and the X-axis driven wheel.

5. The part centering gripping system according to claim 1, characterized in that: The Y-axis moving device comprises: a Y-axis connecting seat, a Y-axis transmission mechanism, two Y-axis connecting blocks and a Y-axis cylinder; The top of the Y-axis connecting seat is connected to the X-axis screw device, and the bottom of the Y-axis connecting seat is connected to the Y-axis transmission mechanism; The Y-axis connecting seat is connected to the Y-axis transmission mechanism, and the Y-axis transmission mechanism is respectively connected to the two Y-axis connecting blocks; The Y-axis cylinder is fixed on the Y-axis transmission mechanism, and the cylinder axis of the Y-axis cylinder is connected to one of the Y-axis connecting blocks; the axis of the Y-axis cylinder is in the Y-axis direction, and the axis of the Y-axis transmission mechanism is in the Y-axis direction; the Y-axis cylinder drives one of the Y-axis connecting blocks to move the two Y-axis connecting blocks in the Y-axis direction.

6. The part centering gripping system according to claim 5, characterized in that: The Y-axis transmission mechanism comprises: a Y-axis support plate, two Y-axis synchronous wheels, a Y-axis synchronous belt and at least one Y-axis guide rail; The bottom of the Y-axis connecting seat is connected to the Y-axis supporting plate, and the length direction of the Y-axis supporting plate is the Y-axis direction; The two Y-axis synchronous wheels are respectively located at the two ends of the Y-axis support plate in the length direction, the two Y-axis synchronous wheels are respectively rotatably connected to the upper surface of the Y-axis support plate, and the Y-axis synchronous belt is sleeved on the two Y-axis synchronous wheels; The two Y-axis connecting blocks are symmetrically arranged on both sides of the axis of the X-axis screw device, and the two Y-axis connecting blocks are respectively connected to the Y-axis synchronous belt; The Y-axis guide rail is fixed on the lower surface of the Y-axis support plate, and the Y-axis connecting block is movably connected to the Y-axis guide rail; The Y-axis cylinder is fixed on the side of the Y-axis support plate, and the Y-axis cylinder is connected to one of the Y-axis connecting blocks.

7. The part centering gripping system according to claim 1, characterized in that: The supporting device comprises: a connecting plate, a supporting box body, and at least one guide track; The connection plate is fixed on the top of the supporting box body, and the connection plate is connected to the industrial robot; The X-axis motor is fixed inside the supporting box body, and the motor shaft of the X-axis motor passes through the supporting box body and is connected to the X-axis driving wheel; The X-axis screw device is fixed to the bottom of the support box body, and the X-axis driven wheel is connected to the screw of the X-axis screw device; the Y-axis support seat of one Y-axis moving device is respectively connected to the left-hand nut in the X-axis screw device, and the Y-axis support seat of the other Y-axis moving device is respectively connected to the right-hand nut in the X-axis screw device, and the left-hand nut and the right-hand nut are on the Y-axis; The guide rail is fixed on the bottom of the support box body, and the Y-axis support seats of the two Y-axis moving devices are respectively movably connected to the guide rail.

8. The part centering gripping system according to claim 1, characterized in that: The industrial robot comprises: a controller and a manipulator; The controller is connected to the industrial camera, and the controller is used to instruct the industrial camera to capture the spatial information of the part and send the spatial information to the industrial robot; The controller generates grasping position information according to the spatial information, wherein the grasping position information includes a centering position coordinate and an offset distance; The controller is connected to the manipulator, the manipulator is connected to the supporting device, and the controller is used to move the center point of the X-axis moving device to the centering position coordinates through the manipulator; The controller is connected to the X-axis motor of the X-axis moving device, and the controller is used to control the two mechanical grippers to move the offset distance in the X-axis direction.

9. The part centering gripping system according to claim 8, characterized in that: The controller is connected to the Y-axis cylinder of the Y-axis moving device, and the controller is used to control the Y-axis cylinder to stop according to the clamping pressure fed back by the Y-axis cylinder.

10. The part centering gripping system according to claim 1, characterized in that: The industrial camera includes: a lens, an image sensor, a driving circuit, an image processing module, a conversion circuit, a computing module, a control signal interface and a data transmission interface; The lens is used to focus the image of the photographed part onto the image sensor; The image sensor is connected to the lens, and the image sensor is used to convert the optical signal into an electrical signal; The driving circuit is connected to the image sensor and the conversion circuit, and the driving circuit is used to provide power and control signals to the image sensor and the conversion circuit; The image processing module is connected to the image sensor, and is used to convert the analog electrical signal output by the image sensor into a digital electrical signal; The conversion circuit is connected to the image processing module, and is used to convert the digital signal output by the digital image processing module into an operating digital signal of a specified format; The calculation module is used to obtain the spatial information of the part according to the operation digital signal, and the spatial information includes the size and position of the part; The control signal interface is connected to the drive circuit and the industrial robot, the control signal receives a start signal sent by the industrial robot, and the control signal interface is used to provide a control signal to the image processing module and the conversion module through the drive circuit according to the start signal; The data transmission interface is connected to the computing module and the industrial robot, and the data transmission interface is used to send the grasping position information to the industrial robot.

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