A gripper for an integrated vision system and a robot

Abstract

The application relates to the technical field of carrying devices, and provides a gripper integrated with a vision system and a robot, wherein the gripper integrated with the vision system comprises an adapter, a shell, a driving mechanism, two clamping pieces and a vision unit; the shell is detachably connected with the adapter; the driving mechanism is installed in the shell and used for driving the two clamping pieces to approach or move away from each other so as to clamp or release a target object respectively; and the vision unit is connected in the shell. Compared with the technical scheme in the prior art in which a fixed code scanner or an independent vision system is arranged on the outer side of a mechanical hand, the vision unit is arranged in the shell, so that the volume of the gripper is reduced, the mass of the gripper is reduced, the integration degree of the gripper is improved, and meanwhile, the driving mechanism quickly adjusts the positions of the clamping pieces according to image information of the target object obtained by the vision unit, so that the target object is quickly clamped.

Description

Technical Field

[0001] The present application belongs to the technical field of handling devices, and more specifically, to a gripper and a robot with an integrated vision system. Background Art

[0002] In today's industrial automation landscape, robotic arms are widely used for tasks such as handling, assembly, and sorting. However, their capabilities are largely limited to pre-set trajectory motion or simple gripping operations, lacking autonomous perception and decision-making capabilities. In particular, in scenarios such as material identification, sorting, and quality inspection, traditional robotic arms rely on manual pre-positioning or external inspection equipment (such as fixed barcode scanners or independent vision systems) to provide target information.

[0003] In the existing technology, a fixed barcode scanner or an independent vision system is set on the outside of the manipulator, which not only increases the size and volume of the manipulator, but also reduces the integration of the manipulator. At the same time, setting a fixed barcode scanner or an independent vision system on the outside of the manipulator increases the mass of the manipulator, causing the manipulator and movement speed to slow down, thereby resulting in a slow response speed of the manipulator, which makes it difficult to meet the requirements of modern intelligent manufacturing for efficiency and flexibility. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide a gripper and a robot with an integrated vision system to solve the technical problems of the existing manipulators, such as large size, poor integration, and flexibility that needs to be improved.

[0005] To achieve the above objectives, the first aspect of the present application is to provide a gripper with visual acquisition, comprising:

[0006] adapter;

[0007] a housing detachably connected to the adapter;

[0008] a driving mechanism, installed in the housing;

[0009] Two clamping members are connected to the driving mechanism and are driven by the driving mechanism to move closer to or farther from each other to clamp or release the target object;

[0010] A visual unit, provided in the housing, for collecting image information of a target object; wherein the number of the visual units is two, and the two visual units are respectively a first visual unit and a second visual unit;

[0011] The first visual unit is provided on the side wall of the housing, and is used to collect image information of a target object in front of the housing; the second visual unit is provided on the bottom wall of the housing, and is used to collect image information of a target object below the housing;

[0012] The driving mechanism adjusts the positions of the clamping members according to the image information so that the two clamping members correspond to the positions of the target object.

[0013] Optionally, the visual unit includes:

[0014] a signal processing board connected to the housing and located inside the housing, wherein the signal processing board is arranged parallel to the side wall or the bottom wall;

[0015] The camera is electrically connected to the signal processing board and extends to the outside of the shell.

[0016] Optionally, the visual unit further includes:

[0017] a light board connected to the housing and located inside the housing, wherein the light board is arranged parallel to the signal processing board, and the signal processing board is connected to the light board;

[0018] The fill light is arranged on the light board and electrically connected to the light board. The housing is provided with a mounting hole, and the fill light is accommodated in the mounting hole.

[0019] Optionally, there are multiple fill lights, and the multiple fill lights are evenly spaced along the circumference of the camera.

[0020] Optionally, it also includes:

[0021] An interface board is disposed in the housing and is arranged parallel to the bottom wall. The interface board is provided with a first interface for electrically connecting to the signal processing board and a second interface for connecting to the light board;

[0022] A control board is connected to a side of the interface board facing the bottom wall and is electrically connected to the interface board, and the control board is arranged in parallel with the interface board.

[0023] Optionally, it also includes:

[0024] an isolation plate, spaced parallel to the bottom wall, to separate the interior of the shell into a first accommodating chamber and a second accommodating chamber;

[0025] The driving mechanism is connected to the first accommodating cavity, and the interface board and the control board are both accommodated in the second accommodating cavity.

[0026] Optionally, the driving mechanism includes:

[0027] guide plate;

[0028] a motor connected to the guide plate, wherein a gear is provided on a rotating shaft of the motor;

[0029] a first driving member, slidably connected to the guide plate and provided with a first rack, the first rack being engaged with one radial end of the gear, and one of the two clamping members being connected to the first driving member;

[0030] The second driving member is slidably connected to the guide plate and is provided with a second rack. The second rack is engaged with the other radial end of the gear, and the other of the two clamping members is connected to the second driving member.

[0031] Optionally, the driving mechanism further includes:

[0032] An elastic return member has one end connected to the first driving member and the other end connected to the second driving member.

[0033] Optionally, the driving mechanism further includes:

[0034] The limiting member has one end connected to one of the first driving member and the second driving member, and the other end opposite to the one end is used to abut against the other of the first driving member and the second driving member.

[0035] The beneficial effect of the gripper with an integrated vision system provided by the present application is that, compared with the prior art, the present application has a gripper with visual acquisition, including an adapter, a shell, a driving mechanism, two clamping parts and a vision unit, wherein the shell and the adapter are detachably connected; the driving mechanism is installed in the shell to drive the two clamping parts to move closer to or away from each other to clamp or release the target object respectively, and the vision unit is connected in the shell. Compared with the technical solution in the prior art in which a fixed barcode scanner or an independent vision system is set on the outside of the manipulator, by setting the vision unit in the shell, not only the volume of the gripper is reduced, the weight of the gripper is reduced, but also the integration of the gripper is improved.

[0036] The present application provides two visual units in the clamping jaws of an integrated visual system, one of which collects image information of a target object in front of a shell, and the other of which is used to collect image information of a target object below the shell, so that a driving mechanism can quickly adjust the position of the clamping member according to the image information so that the two clamping members correspond to the position of the target object, thereby achieving rapid clamping of the target object and improving the responsiveness of the clamping jaws.

[0037] A second aspect of the present application is to provide a robot comprising:

[0038] Lifting mechanism;

[0039] A translation mechanism connected to the lifting mechanism, wherein the lifting mechanism drives the translation mechanism to move in a vertical direction;

[0040] A clamping jaw connected to the translation mechanism, the clamping jaw moving in a horizontal direction under the drive of the translation mechanism, the clamping jaw being the clamping jaw of any one of the integrated vision systems described above.

[0041] The robot provided by the application has the beneficial effect that, compared with the prior art, the robot provided by the application comprises the above-described clamping jaw with vision acquisition, the clamping jaw comprising an adapter seat, a shell, a driving mechanism, two clamping pieces, and a vision unit, wherein the shell is detachably connected with the adapter seat; the driving mechanism is installed in the shell and is used to drive the two clamping pieces to move closer to or away from each other to clamp or release the target object, respectively; and the vision unit is connected in the shell. Compared with the technical solution in which a fixed code scanner or an independent vision system is arranged on the outside of a mechanical hand in the prior art, by arranging the vision unit in the shell, the volume and the mass of the clamping jaw are reduced, and the integration degree of the clamping jaw is improved.

[0042] The robot provided by the application comprises the clamping jaw of any one of the integrated vision systems described above. In the two vision units in the clamping jaw, one vision unit acquires image information of a target object in front of the shell, and the other vision unit is used to acquire image information of a target object below the shell, so that the driving mechanism quickly adjusts the position of the clamping piece according to the image information, so that the two clamping pieces correspond to the position of the target object, thereby realizing quick clamping of the target object and improving the responsiveness of the clamping jaw. BRIEF DESCRIPTION OF DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the application, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0044] Figure 1 The structural schematic diagram of the robot provided by the embodiments of the application is shown in the figure.

[0045] Figure 2 The structural schematic diagram of the clamping jaw provided by the embodiments of the application is shown in the figure.

[0046] Figure 3 The structural schematic diagram of the vision unit provided by the embodiments of the application is shown in the figure.

[0047] Figure 4 The structural schematic diagram of the vision unit provided by the embodiments of the application is shown in the figure.

[0048] Figure 5 The structural schematic diagram of the clamping jaw provided by the embodiments of the application is shown in the figure.

[0049] Figure 6 A schematic diagram of the internal structure of the clamp provided in an embodiment of the present application;

[0050] Figure 7 A schematic diagram of the positional relationship between two visual units provided in an embodiment of the present application;

[0051] Figure 8 This is a structural diagram of another perspective of the positional relationship between the two visual units in this application;

[0052] Figure 9 A schematic diagram of the three-dimensional structure of the positional relationship between the two visual units in this application;

[0053] Figure 10 A schematic diagram of the structure of the driving mechanism provided in an embodiment of the present application;

[0054] Figure 11 A schematic structural diagram of the driving mechanism provided in an embodiment of the present application from another perspective;

[0055] Figure 12 for Figure 7 A magnified view of the structure of the middle A section;

[0056] Figure 13 A schematic structural diagram of a gripper of an integrated vision system provided in another embodiment of the present application;

[0057] Figure 14 A schematic diagram of the structure of the lifting mechanism provided in an embodiment of the present application;

[0058] Figure 15 A schematic structural diagram of the translation mechanism provided in an embodiment of the present application.

[0059] Among them, the reference numerals in the figures are:

[0060] 10. Adapter; 20. Housing; 21. Side wall; 211. First mounting hole; 22. Bottom wall; 23. First accommodating cavity; 24. Second accommodating cavity; 30. Driving mechanism; 31. Guide plate; 311. First guide rail; 312. Second guide rail; 32. Motor; 321. Gear; 33. First driving member; 331. First slide; 332. First rack; 34. Second driving member; 341. Second slide; 342. Second rack; 35. Limiting member; 40. Clamping member; 41. First clamping rib; 42. Second clamping rib; 50. Visual unit; 50a. First visual unit; 50b. Second visual unit; 51. Signal processing board; 51a. First signal processing board; 51b. Second signal processing board; 52. Camera; 52a. First A camera; 52b, a second camera; 53, a light board; 53a, a first light board; 53b, a second light board; 54, a fill light; 54a, a first fill light; 54b, a second fill light; 60, a camera signal processing module; 61, an interface board; 611, a first interface; 612, a second interface; 613, a third interface; 62, a control board; 63, an isolation board; 70, an elastic reset member; 80, a lifting mechanism; 81, a lifting frame; 82, a lifting motor; 83, a lifting seat; 84, a first synchronous wheel; 85, a second synchronous wheel; 86, a first synchronous belt; 87, an active synchronous wheel; 88, a driven synchronous wheel; 89, a second synchronous belt; 90, a translation mechanism; 91, a first swing arm; 92, a second swing arm; 93, a first rotating motor; 94, a second rotating motor. DETAILED DESCRIPTION

[0061] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0062] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0063] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0064] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0065] Please also refer to Figures 1 to 15 , the gripper and robot of an integrated vision system provided in an embodiment of the present application are now described.

[0066] A first aspect of the present application is to provide a clamping claw with visual acquisition function, comprising an adapter 10 , a shell 20 , a driving mechanism 30 , a clamping member 40 and a visual unit 50 .

[0067] For details, please refer to Figure 1 and Figure 2 In the present application, the housing 20 is detachably connected to the adapter 10 , and the driving mechanism 30 is installed in the housing 20 .

[0068] Two spaced-apart openings are provided on the side wall 21 of the shell 20 along the first direction, and there are two clamping members 40. One clamping member 40 is connected to the driving mechanism 30 after passing through one of the openings, and the other clamping member 40 is also connected to the driving mechanism 30 after passing through the other opening. The two clamping members 40 are driven by the driving mechanism 30 to move closer to or away from each other to respectively clamp or release the target object.

[0069] The visual unit 50 is disposed on the housing 20 and is used to collect image information of the target object. There are two visual units 50, namely a first visual unit 50a and a second visual unit 50b.

[0070] The first vision unit 50a is disposed on the side wall 21 of the housing 20 and is used to capture image information of a target object in front of the housing 20, such as an identification structure provided on the target object containing product information and shape information of the target object. The identification structure may be a QR code or barcode provided on the target object. The first vision unit 50a acquires the product information of the target object and transmits the product information of the target object to a controller used to control the gripper.

[0071] The second visual unit 50b is disposed on the bottom wall 22 of the housing 20 and is used to capture image information of the target object below the housing 20, such as the target object's shape and size, as well as its position relative to the placement location. The controller, via the drive mechanism 30, then adjusts the positions of the clamping members 40 based on the image information, so that the two clamping members 40 are aligned with the positions of the target object, thereby facilitating the two clamping members 40 to quickly clamp the target object.

[0072] Compared with the prior art, the present application has a gripper with visual acquisition, including an adapter 10, a shell 20, a drive mechanism 30, two clamping members 40 and a visual unit 50, wherein the shell 20 is detachably connected to the adapter 10; the drive mechanism 30 is installed in the shell 20 to drive the two clamping members 40 to move closer to or away from each other to clamp or release the target object respectively, and the visual unit 50 is connected in the shell 20. Compared with the technical solution in the prior art in which a fixed barcode scanner or an independent visual system is set on the outside of the manipulator, by setting the visual unit 50 in the shell 20, not only the volume of the gripper is reduced, the mass of the gripper is reduced, but also the integration of the gripper is improved.

[0073] The present application provides two visual units 50 in the clamping jaws of an integrated visual system, wherein one visual unit 50 collects image information of a target object in front of the shell 20, and the other visual unit 50 is used to collect image information of a target object below the shell 20, so that the driving mechanism 30 quickly adjusts the position of the clamping member 40 according to the image information, so that the two clamping members 40 correspond to the position of the target object, thereby achieving rapid clamping of the target object and improving the responsiveness of the clamping jaw.

[0074] See also Figure 13 Since the housing 20 is detachably connected to the adapter 10 , in another embodiment of the present application, only the driving mechanism 30 is connected to the housing 20 , and the two clamping members 40 pass through the two openings provided on the housing 20 and are connected to the driving mechanism 30 .

[0075] In one embodiment of the present application, see Figure 3 and Figure 4 , the visual unit 50 includes a signal processing board 51 and a camera 52.

[0076] The signal processing board 51 is connected to the housing 20 and is located inside the housing 20. The signal processing board 51 is spaced apart and parallel to the side wall 21 or the bottom wall 22. The camera 52 is electrically connected to the signal processing board 51 and extends to the outside of the housing 20 to facilitate capturing image information of the target object.

[0077] By arranging the signal processing board 51 inside the shell 20 and connecting it to the shell 20, and arranging the signal processing board 51 parallel to the side wall 21 or the bottom wall 22 of the shell 20, the space occupied by the signal processing board 51 in the shell 20 is reduced, thereby reducing the size of the shell 20. At the same time, the camera 52 is arranged on the signal processing board 51, thereby reducing the volume of the visual unit 50 and improving the integration of the visual unit 50.

[0078] In the present application, the length of the camera 52 extending to the outside of the housing 20 is between 1.2-1.5 mm. By controlling the length of the camera 52 extending to the outside of the housing 20 to be between 1.2-1.5 mm, the length of the camera 52 extending to the outside of the housing 20 is reduced, thereby reducing the overall size of the clamp.

[0079] In one embodiment of the present application, preferably, the length of the camera 52 extending to the outside of the housing 20 is 1.34 mm.

[0080] In this application, please refer to Figures 5 to 9 For the sake of convenience, the two visual units 50 are set to be the first visual unit 50a and the second visual unit 50b, and the first visual unit 50a includes a first signal processing board 51a and a first camera 52a, and the second visual unit 50b includes a second signal processing board 51b and a second camera 52b.

[0081] Specifically, the first signal processing board 51a is connected to the vertically extending side wall 21 of the housing 20. The first signal processing board 51a extends vertically so that the first signal processing board 51a is arranged parallel to the side wall 21 to reduce the horizontal length of the housing 20.

[0082] The first camera 52a is disposed on the first signal processing board 51a and extends to the outside of the side wall 21. The first vision unit 50a is used to scan the identification structure on the target object located in front of the gripper to obtain product information of the target object.

[0083] The second signal processing board 51b is connected to the horizontally extending bottom wall 22 of the housing 20. The second side wall 21 extends horizontally, so that the second signal processing board 51b is arranged parallel to the bottom wall 22 to reduce the vertical height of the housing 20.

[0084] The second camera 52b is disposed on the second signal processing board 51b and extends to the outside of the bottom wall 22. The second vision unit 50b is used to scan image information of a target object located below the gripper.

[0085] In the present application, the visual unit 50 further includes a light board 53 and a fill light 54 .

[0086] The light board 53 is connected to and located inside the housing 20, and is arranged parallel to the signal processing board 51. The signal processing board 51 is connected to the light board 53, and the signal processing board 51 is connected to the side of the light board 53 facing away from the housing 20. The fill light 54 is disposed on and electrically connected to the light board 53. The housing 20 has a mounting hole, and the fill light 54 is accommodated in the mounting hole.

[0087] By arranging the light board 53 in parallel with the signal processing board 51, when the signal processing board 51 is connected to the light board 53, the space occupied by the light board 53 in the shell 20 is reduced, thereby reducing the space occupied by the visual unit 50 in the shell 20, and further reducing the size of the shell 20; at the same time, by connecting the signal processing board 51 to the side of the light board 53 facing away from the shell 20, the integration of the visual unit 50 is also improved.

[0088] Specifically, in the present application, the light board 53 includes a first light board 53a and a second light board 53b, and the fill light 54 includes a first fill light 54a and a second fill light 54b.

[0089] The first light board 53a is connected to the side wall 21 and is arranged parallel to the side wall 21. The first signal processing board 51a is connected to the side of the first light board 53a facing away from the side wall 21. The side wall 21 is provided with a first mounting hole 211, and the first fill light 54a is accommodated in the first mounting hole 211.

[0090] When the first signal processing board 51a is connected to the first light board 53a and the first light board 53a is connected to the side wall 21, since the first signal processing board 51a is arranged parallel to the side wall 21, and the first light board 53a is arranged parallel to the first signal processing board 51a, while improving the integration of the first visual unit 50a, it also reduces the space occupied by the first signal processing board 51a and the first light board 53a in the horizontal direction in the shell 20, thereby reducing the length dimension of the shell 20 in the horizontal direction.

[0091] A first receiving hole is provided on the first signal processing board 51a. The first camera 52a passes through the first receiving hole and the side wall 21 and extends to the outside of the side wall 21 to scan the identification structure on the target object in front of the clamp.

[0092] The second light board 53b is connected to the bottom wall 22, and the second signal processing board 51b is connected to the side of the second light board 53b facing away from the bottom wall 22. A second mounting hole is defined in the bottom wall 22, and the second fill light 54b is received in the second mounting hole.

[0093] When the second signal processing board 51b is connected to the second lamp board 53b and the second lamp board 53b is connected to the bottom wall 22, since the second signal processing board 51b is arranged parallel to the bottom wall 22, and the second lamp board 53b is arranged parallel to the second signal board, while improving the integration of the second visual unit 50b, it also reduces the space occupied by the second signal processing board 51b and the second lamp board 53b in the shell 20 in the vertical direction, thereby reducing the length dimension of the shell 20 in the vertical direction.

[0094] A second receiving hole is provided on the second signal processing board 51 b , and the second camera 52 b passes through the second receiving hole and the bottom wall 22 and extends to the outside of the bottom wall 22 to scan image information of the target object located under the clamp.

[0095] In the application, there are multiple fill lights 54 , and the multiple fill lights 54 are evenly spaced along the circumference of the camera 52 .

[0096] Specifically, the fill light 54 is an LED lamp bead. In a situation where light is insufficient, the fill light 54 is used to fill in the light of the target object so that the first vision unit 50a can scan the recognition structure on the target object and the second vision unit 50b can obtain image information of the target object.

[0097] There are multiple first fill lights 54a and multiple second fill lights 54b. The first fill lights 54a are arranged on the first light board 53a and are electrically connected to the first light board 53a. The multiple first fill lights 54a are evenly spaced and distributed outside the first camera 52a along the circumference of the first camera 52a.

[0098] The second fill light 54b is arranged on the second light board 53b and is electrically connected to the second light board 53b, and multiple second fill lights 54b are evenly spaced along the circumference of the second camera 52b on the outside of the second camera 52b, and multiple second fill lights 54b all extend to the outside of the bottom wall 22.

[0099] In one embodiment of the present application, preferably, the number of the first fill light 54a and the number of the second fill light 54b are both 4.

[0100] In the present application, the gripper of the integrated vision system further includes an interface board 61 and a control board 62 .

[0101] The interface board 61 is connected to the bottom wall 22 and is arranged parallel to the bottom wall 22. The interface board 61 is provided with a first interface 611 for electrically connecting to the signal processing board 51 and a second interface 612 for connecting to the light board 53. The control board 62 is connected to the side of the interface board 61 facing the bottom wall 22 and is electrically connected to the interface board 61. The control board 62 is arranged parallel to the interface board 61.

[0102] Specifically, by arranging the interface board 61 and the control board 62 parallel to the bottom wall 22, the space occupied by the interface board 61 and the control board 62 in the vertical direction of the shell 20 is reduced, thereby reducing the height dimension of the corresponding parts of the shell 20 and the interface board 61 and the control board 62 in the vertical direction.

[0103] The first interface 611 and the second interface 612 are both electrically connected to the interface board 61. There are two first interfaces 611 and two second interfaces 612. The two first interfaces 611 are symmetrically arranged along the thickness direction of the interface board 61 and are located at one end of the interface board 61 facing the side wall 21. The two second interfaces 612 are arranged at one end of the interface board 61 facing the side wall 21 and are located at both ends of the length direction of the first interface 611.

[0104] The two first interfaces 611 are electrically connected to the first signal processing board 51a and the second signal processing board 51b respectively through two plug connectors, and the two second interfaces 612 are electrically connected to the first light board 53a and the second light board 53b respectively through two plug connectors.

[0105] By arranging the first interface 611 and the second interface 612 at one end of the interface board 61 close to the side wall 21 , the length of the cables used to electrically connect the first vision unit 50 a and the second vision unit 50 b to the interface board 61 can be reduced.

[0106] The interface board 61 is also provided with a third interface 613 for electrically connecting to the gripper's controller, as well as a power interface for energizing the vision unit 50. After the first camera 52a captures product information from the recognition structure on the target object, it transmits the product information to the first signal processing board 51a. The first signal processing board 51a transmits the product information to the control board 62 via one of the first interfaces 611. The control board 62 then transmits the product information to the gripper's controller via the third interface 613. After the second camera 52b captures image information of the target object, it transmits the image information to the first signal processing board 51a. The first signal processing board 51a transmits the image information to the control board 62 via another first interface 611. The control board 62 converts the image information into a control signal, which is then transmitted to the gripper's controller via the third interface 613, allowing the controller to drive the gripper's movement based on the control signal.

[0107] In one embodiment of the present application, the clamping jaw with visual acquisition function further includes an isolation plate 63 .

[0108] The isolation plate 63 is parallel to and spaced from the bottom wall 22 to divide the housing 20 into a first accommodating chamber 23 and a second accommodating chamber 24. The drive mechanism 30 is connected to the first accommodating chamber 23, and the interface board 61 and the control board 62 are both accommodated in the second accommodating chamber 24.

[0109] Specifically, the isolation plate 63 is arranged on the side of the interface plate 61 away from the control plate 62, and is located between the interface plate 61 and the drive mechanism 30, so as to separate the shell 20 into a first accommodating chamber 23 and a second accommodating chamber 24. By setting the drive mechanism 30 in the first accommodating chamber 23 and accommodating the interface plate 61 and the control plate 62 in the second accommodating chamber 24, electromagnetic isolation of the drive mechanism 30 and the interface plate 61 and the control plate 62 is achieved.

[0110] In the present application, the driving mechanism 30 includes a guide plate 31 , a motor 32 , a first driving member 33 and a second driving member 34 .

[0111] For details, please refer to Figure 10 and Figure 11 The guide plate 31 is provided with a first guide rail 311 and a second guide rail 312 extending along the length direction thereof, and the first guide rail 311 and the second guide rail 312 are spaced apart along the width direction of the guide plate 31 .

[0112] The guide plate 31 has a through hole. The motor 32 is connected to the side of the guide plate 31 facing away from the first guide rail 311 and the second guide rail 312. The motor 32's shaft extends through the through hole and then to the side of the guide plate 31 where the first guide rail 311 and the second guide rail 312 are located. The motor 32 is a servo motor 32, and a gear 321 is provided on the motor's shaft.

[0113] The first driving member 33 is provided with a first sliding seat 331 . The first sliding seat 331 is slidably connected to the first guide rail 311 , so that the first driving member 33 is slidably connected to the guide plate 31 .

[0114] The first driving member 33 is provided with a first rack 332 . The length direction of the first rack 332 is parallel to the length direction of the first guide rail 311 . The first rack 332 is engaged with one radial end of the gear 321 . One of the two clamping members 40 is connected to the first driving member 33 .

[0115] The second driving member 34 has a second sliding seat 341 . The second sliding seat 341 is slidably connected to the second guide rail 312 , so that the second driving member 34 is slidably connected to the guide plate 31 .

[0116] A second rack 342 is provided on the second driving member 34. The length direction of the second rack 342 is parallel to the length direction of the second guide rail 312, and the second rack 342 is engaged with the other radial end of the gear 321, that is, the driving gear 321 is located between the first rack 332 and the second rack 342, and the other of the two clamping members 40 is connected to the second driving member 34.

[0117] like Figure 12As shown, when the motor 32 drives the driving gear 321 to rotate clockwise, the driving gear 321 drives the first rack 332 to move horizontally to the right, and the first rack 332 drives the first driving member 33 to move horizontally to the right on the first guide rail 311, so that the first driving member 33 drives the clamping member 40 connected thereto to move horizontally to the right. The driving gear 321 drives the second rack 342 to move horizontally to the left, and the second rack 342 drives the second driving member 34 to move horizontally to the left on the second guide rail 312, so that the second driving member 34 drives the clamping member 40 connected thereto to move horizontally to the left, so as to realize the mutual moving away of the two clamping members 40. When the motor 32 drives the driving gear 321 to rotate counterclockwise, the driving gear 321 drives the first rack 332 to move horizontally to the left, and the first rack 332 drives the first driving member 33 to move horizontally to the left on the first guide rail 311, so that the first driving member 33 drives the clamping member 40 connected thereto to move horizontally to the left. The driving gear 321 drives the second rack 342 to move horizontally to the right, and the second rack 342 drives the second driving member 34 to move horizontally to the right on the second guide rail 312, so that the second driving member 34 drives the clamping member 40 connected thereto to move horizontally to the right, so as to realize the mutual moving close of the two clamping members 40.

[0118] In an embodiment of the present application, the driving mechanism 30 further comprises an elastic reset member 70.

[0119] Specifically, please refer to Figure 6 One end of the elastic reset member 70 is connected with the first driving member 33, and the other end is connected with the second driving member 34.

[0120] When the distance between the two clamping members 40 is at a minimum value, at this time, the elastic reset member 70 is in a first stretched state, and when the distance between the two clamping members 40 is at a maximum value, at this time, the elastic reset member 70 is in a second stretched state, and the length of the elastic reset member 70 in the second stretched state is greater than the length of the elastic reset member 70 in the first stretched state.

[0121] Since the elastic reset member 70 is in a stretched state, under the action of the elasticity of the elastic reset member 70, the first driving member 33 and the second driving member 34 are in a state of moving close to each other, so as to further improve the clamping force of the two clamping members 40 on the target object. At the same time, after the motor 32 in the driving mechanism 30 is powered off, under the action of the elasticity of the elastic reset member 70, the first driving member 33 and the second driving member 34 can still respectively make the two clamping members 40 maintain a clamping force on the target object.

[0122] In an embodiment of the present application, the driving mechanism 30 further comprises a limiting member 35.

[0123] Please refer to Figure 8 One end of the limiting member 35 is connected to one of the first driving member 33 and the second driving member 34, and the other end opposite to the one end is used to abut against the other one of the first driving member 33 and the second driving member 34.

[0124] Specifically, the limiting member 35 is made of elastic material, such as rubber or silica gel. When the two driving members drive the two clamping members to move close to each other until the first driving member 33 or the second driving member 34 abuts, at this time, the motor 32 stops rotating to limit the first driving member 33 or the second driving member 34, preventing the first clamping member 40 and the second clamping member 40 from clamping the target object excessively. At the same time, since the limiting member 35 is made of elastic material, when the first driving member 33 or the second driving member 34 abuts against the limiting member 35, the first driving member 33 or the second driving member 34 is buffered.

[0125] In an embodiment of the application, as shown in Figure 12 the opposite end faces of the two clamping members 40 are provided with protruding first clamping ribs 41, and along the direction in which one clamping member 40 points to the other clamping member 40, the first clamping ribs 41 are arranged in a gradually decreasing cross-sectional shape. When the two clamping members 40 clamp the target object, since the first clamping ribs 41 are arranged in a gradually decreasing cross-sectional shape, the first clamping ribs 41 are used to improve the clamping force of the clamping member 40 on the target object at the contact part between the clamping member 40 and the target object. The upper end face of the first clamping rib 41 is arranged at a first clamping angle with the horizontal direction, and the lower end face of the first clamping rib 41 is arranged at a second clamping angle with the horizontal direction.

[0126] In an embodiment of the application, as shown in Figure 12 the first clamping angle is 0 degrees, that is, the upper end face of the first clamping rib 41 is parallel to the horizontal direction, and the second clamping angle is 45 degrees.

[0127] In an embodiment of the application, the number of the first clamping ribs 41 is multiple, and the multiple first clamping ribs 41 are uniformly spaced along the vertical direction.

[0128] In another embodiment of the application, as shown in Figure 12 the opposite end faces of the two clamping members 40 are provided with protruding second clamping ribs 42, and along the direction in which one clamping member 40 points to the other clamping member 40, the first clamping ribs 41 are arranged in a gradually decreasing cross-sectional shape, and the length of the second clamping rib 42 is greater than that of the first clamping rib 41, and the upper end face of the second clamping rib 42 is parallel to the horizontal direction, so as to facilitate the upper end face of the second clamping rib 42 to clamp the target object having an end face extending along the horizontal direction. When the two clamping members 40 clamp the target object, the end face of the target object extending along the horizontal direction is supported on the upper end face of the second clamping rib 42, so as to facilitate the two clamping members 40 to clamp the target object.

[0129] In a second aspect, the present application proposes a robot comprising a lifting mechanism 80, a translation mechanism 90 and a gripper, wherein the gripper is a gripper of an integrated vision system provided by any one of the above items.

[0130] Specifically, the lifting mechanism 80 and the translation mechanism 90 are both electrically connected to the controller of the gripper of the integrated vision system.

[0131] The lift includes a lifting frame 81, a lifting motor 82, and a lifting base 83. A translation mechanism 90 is connected to the lifting mechanism 80. The lifting mechanism 80 drives the translation mechanism 90 to move vertically. The adapter 10 is connected to the translation mechanism 90. The translation mechanism 90 is used to drive the adapter 10 and the housing 20 to drive the clamping member 40 to move horizontally.

[0132] For details, please refer to Figure 14 The upper and lower parts of the lifting frame 81 are respectively connected to the first synchronous wheel 84 and the second synchronous wheel 85 for rotation. The first synchronous wheel 84 and the second synchronous wheel 85 are provided with a first synchronous belt 86. The rotating shaft of the lifting motor 82 is connected to the active synchronous wheel 87. The rotating shaft of the second synchronous wheel 85 is provided with a driven synchronous wheel 88. The active synchronous wheel 87 and the driven synchronous wheel 88 are driven by the second synchronous belt 89. The lifting seat 83 is fixedly connected to the first synchronous belt 86.

[0133] See also Figure 15 The translation mechanism 90 includes a first swing arm 91 and a second swing arm 92, the second swing arm 92 is rotatably connected to the first swing arm 91, and a first rotating motor 93 is provided on the lifting seat 83 or the end of the first swing arm 91 away from the second swing arm 92. The first rotating motor 93 is used to drive the first swing arm 91 to rotate relative to the lifting seat 83. A second rotating motor 94 is provided on the end of the first swing arm 91 close to the second swing arm 92, or the end of the second swing arm 92 close to the first swing arm 91. The second rotating motor 94 is used to drive the second swing arm 92 to rotate relative to the first swing arm 91. A third rotating motor is provided on the end of the second swing arm 92 away from the first swing arm 91.

[0134] The adapter 10 is connected to the third rotary motor, and the third rotary motor drives the housing 20 and the clamping member 40 to rotate.

[0135] The control board 62 converts the image information of the target object into a control signal and transmits it to the controller of the clamp. The controller lifts the lifting mechanism 80, the translation mechanism 90 and the driving mechanism 30 in the clamp according to the control signal to move the clamping member 40 and clamp the target object.

[0136] Compared with the prior art, the robot provided in the present application includes a lifting mechanism 80 and a translation mechanism 90, and a gripper with visual acquisition provided by any one of the above embodiments, the gripper includes an adapter 10, a shell 20, a drive mechanism 30, two clamping members 40 and a visual unit 50, wherein the shell 20 and the adapter 10 are detachably connected; the drive mechanism 30 is installed in the shell 20 to drive the two clamping members 40 to move closer to or away from each other to clamp or release the target object respectively, and the visual unit 50 is connected in the shell 20. Compared with the technical solution in the prior art in which a fixed barcode scanner or an independent visual system is set on the outside of the manipulator, by setting the visual unit 50 in the shell 20, not only the volume of the gripper is reduced, the mass of the gripper is reduced, but also the integration of the gripper is improved.

[0137] The present application provides a robot, in which two visual units 50 in the gripper of the integrated visual system, one of the visual units 50 collects image information of the target object in front of the shell 20, and the other visual unit 50 is used to collect image information of the target object below the shell 20, so that the driving mechanism 30 quickly adjusts the position of the clamping member 40 according to the image information, so that the two clamping members 40 correspond to the position of the target object, thereby achieving rapid clamping of the target object and improving the responsiveness of the gripper.

[0138] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A gripper with an integrated vision system, characterized in that: include: adapter; a housing detachably connected to the adapter; a driving mechanism, installed in the housing; Two clamping members are connected to the driving mechanism and are driven by the driving mechanism to move closer to or farther from each other to clamp or release the target object; A visual unit, provided in the housing, for collecting image information of a target object; wherein the number of the visual units is two, and the two visual units are respectively a first visual unit and a second visual unit; The first visual unit is provided on the side wall of the housing, and is used to collect image information of a target object in front of the housing; the second visual unit is provided on the bottom wall of the housing, and is used to collect image information of a target object below the housing; The driving mechanism adjusts the positions of the clamping members according to the image information so that the two clamping members correspond to the positions of the target object; The visual unit comprises: a signal processing board connected to the housing and located inside the housing, wherein the signal processing board is arranged parallel to the side wall or the bottom wall; The camera is electrically connected to the signal processing board and extends to the outside of the shell.

2. The gripper of the integrated vision system according to claim 1, characterized in that: The visual unit also includes: a light board connected to the housing and located inside the housing, wherein the light board is arranged parallel to the signal processing board, and the signal processing board is connected to the light board; The fill light is arranged on the light board and electrically connected to the light board. The housing is provided with a mounting hole, and the fill light is accommodated in the mounting hole.

3. The gripper of the integrated vision system according to claim 2, characterized in that: There are multiple fill lights, and the multiple fill lights are evenly spaced along the circumference of the camera.

4. The gripper of the integrated vision system according to claim 3, characterized in that: Also includes: An interface board is disposed in the housing and is arranged parallel to the bottom wall. The interface board is provided with a first interface for electrically connecting to the signal processing board and a second interface for connecting to the light board; A control board is connected to a side of the interface board facing the bottom wall and is electrically connected to the interface board, and the control board is arranged in parallel with the interface board.

5. The gripper of the integrated vision system according to claim 4, characterized in that: Also includes: an isolation plate, spaced parallel to the bottom wall, to separate the interior of the shell into a first accommodating chamber and a second accommodating chamber; The driving mechanism is connected to the first accommodating cavity, and the interface board and the control board are both accommodated in the second accommodating cavity.

6. The gripper of the integrated vision system according to claim 1, characterized in that: The driving mechanism comprises: guide plate; a motor connected to the guide plate, wherein a gear is provided on a rotating shaft of the motor; a first driving member, slidably connected to the guide plate and provided with a first rack, the first rack being engaged with one radial end of the gear, and one of the two clamping members being connected to the first driving member; The second driving member is slidably connected to the guide plate and is provided with a second rack. The second rack is engaged with the other radial end of the gear, and the other of the two clamping members is connected to the second driving member.

7. The gripper of the integrated vision system according to claim 6, characterized in that: The driving mechanism further comprises: An elastic return member has one end connected to the first driving member and the other end connected to the second driving member.

8. The gripper of the integrated vision system according to claim 7, characterized in that: The driving mechanism further comprises: The limiting member has one end connected to one of the first driving member and the second driving member, and the other end opposite to the one end abuts against the other of the first driving member and the second driving member.

9. A robot, characterized in that: include: Lifting mechanism; A translation mechanism connected to the lifting mechanism, wherein the lifting mechanism drives the translation mechanism to move in a vertical direction; A clamping claw is connected to the translation mechanism, and the clamping claw moves in a horizontal direction under the drive of the translation mechanism. The clamping claw is the clamping claw of the integrated vision system according to any one of claims 1 to 8.

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