Intelligent robot vision-guided positioning and grabbing device

Abstract

This invention discloses a vision-guided positioning and grasping device for an intelligent robot, comprising: a fixed frame with grippers on opposite sides that can reciprocate relative to each other; a vision-guided camera assembly and a synchronous linkage assembly. The vision-guided camera assembly is positioned between each gripper via the synchronous linkage assembly and can adaptively adjust its position according to the gripper's swing amplitude. This application overcomes the problems of insufficient positioning accuracy due to low imaging resolution when the camera is far from the workpiece, and conversely, a narrowed field of view when the camera is close to the workpiece. Some devices introduce additional electric lifting slides to adjust the camera height, which increases the weight of the end effector, complicates the control algorithm, and reduces the robot's dynamic response speed and load capacity. Therefore, this invention provides a vision-guided positioning and grasping device for an intelligent robot that can automatically adjust the camera height and field of view based on the gripper opening degree without requiring an additional power source.

Description

Technical Field

[0001] This invention relates to the field of industrial robots and machine vision technology, specifically to a positioning and grasping device for intelligent robot vision guidance. Background Technology

[0002] In modern industrial automated production lines, the use of vision sensors to guide robots in positioning and gripping workpieces has become extremely widespread. Existing "hand-eye" systems (i.e., cameras mounted on the robot's end effector gripper) typically fix the camera to the side or above the gripper.

[0003] In the existing technology, if the camera is far from the workpiece, the field of view is large but the imaging resolution is low and the positioning accuracy is insufficient. If the camera is close to the workpiece, the field of view becomes smaller. In order to adjust the camera height, some devices have introduced an additional electric lifting slide, which increases the weight of the end effector, complicates the control algorithm, and reduces the robot's dynamic response speed and load capacity.

[0004] Therefore, providing an intelligent robot vision-guided positioning and grasping device that can automatically adjust the camera height and field of view based on the opening and closing degree of the gripper without the need for an additional power source is a problem that this invention urgently needs to solve. Summary of the Invention

[0005] To address the aforementioned technical problems, the purpose of this invention is to overcome the shortcomings of existing technologies. In the former, if the camera is far from the workpiece, although the field of view is large, the imaging resolution is low and the positioning accuracy is insufficient. Conversely, if the camera is close to the workpiece, the field of view becomes smaller. Some devices introduce additional electrically operated lifting platforms to adjust the camera height, which increases the weight of the end effector, complicates the control algorithm, and reduces the robot's dynamic response speed and load capacity. Therefore, this invention provides an intelligent robot vision-guided positioning and grasping device that automatically adjusts the camera height and field of view based on the gripper opening degree without requiring an additional power source.

[0006] To achieve the above objectives, the present invention provides a positioning and grasping device for intelligent robot vision guidance, comprising: a fixed frame, on which grippers are respectively provided on opposite sides for reciprocating swing; a vision guidance camera assembly and a synchronous linkage assembly, wherein the vision guidance camera assembly is disposed between each gripper via the synchronous linkage assembly and can adaptively adjust its position according to the swing amplitude of the grippers.

[0007] Preferably, the fixed frame is further provided with a first driving mechanism for driving each gripper to reciprocate relative to the other; wherein, the first driving mechanism includes: a first lead screw and a first rotary drive motor, the first lead screw being vertically rotatably mounted on the fixed frame via the first rotary drive motor; a first movable slider, the first movable slider being threadedly mounted on the first lead screw; a first connecting rod, the first movable slider being hinged to one end of the first connecting rod on opposite sides; a second connecting rod, which is L-shaped and its inflection point is rotatably mounted on the fixed frame, one end being hinged to the other end of the first connecting rod, and the other end being hinged to the gripper; a third connecting rod, a plurality of third connecting rods are symmetrically arranged on opposite sides of the fixed frame, one end of the third connecting rod being hinged to the fixed frame, and the other end being hinged to the gripper.

[0008] Preferably, the vision-guided camera assembly includes: a mounting base disposed between each gripper; an angle adjustment base and a second drive mechanism, the angle adjustment base being rotatably mounted on the mounting base via the second drive mechanism; and an industrial camera disposed on the angle adjustment base.

[0009] Preferably, the angle adjustment seat is provided with arc-shaped limiting grooves on both sides, and the mounting seat is symmetrically provided with a number of limiting pins that are adapted to each arc-shaped limiting groove on both inner sides.

[0010] Preferably, the second driving mechanism includes: a second movable slider with a telescopic frame retractably disposed below it, the lower end of the telescopic frame being hinged to an angle adjustment seat; guide rods, a plurality of guide rods being horizontally disposed through the second movable slider on the mounting seat; a second lead screw and a second rotary drive motor, the second lead screw being horizontally rotatably disposed on the mounting seat via the second rotary drive motor and threadedly assembled with the second movable slider.

[0011] Preferably, the telescopic frame is provided with limit sliders on opposite sides, and the second movable slider is provided with a limit groove corresponding to each limit slider.

[0012] Preferably, the synchronous linkage assembly includes: a plurality of synchronous linkages symmetrically arranged on opposite sides of the fixed frame, each synchronous linkage having one end hinged to the fixed frame and the other end hinged to the mounting base.

[0013] According to the above technical solution, the beneficial effects of the present invention compared with the prior art are as follows: In the initial state, the gripper is fully open, the camera is in a retracted position, the field of view covers the area to be gripped, the position, shape and posture of the workpiece are quickly identified, the first-level coarse positioning is completed, the robot end effector is guided to move above the workpiece, the gripper begins to retract inward to grip, the synchronous linkage drives the camera to move closer to the workpiece synchronously, the imaging magnification increases as the distance decreases, the field of view is focused from the "global workpiece" to the "gripping contact surface", the relative offset between the gripper and the workpiece is fed back in real time, the gripping position is dynamically corrected, the workpiece placement error and mechanical clearance are compensated, after the gripper is fully closed to grip the workpiece, the camera reaches the corresponding forward extension position, the final gripping image is captured, the workpiece is confirmed to be centered and without off-center load, the gripping closed loop is completed, and material drop or position deviation is avoided.

[0014] Other features and advantages of the present invention will be described in detail in the following detailed description section; and all parts not covered in the present invention are the same as or can be implemented using the prior art. Attached Figure Description

[0015] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the following detailed description to explain the invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a perspective view of a vision-guided positioning and grasping device for an intelligent robot provided in a preferred embodiment of the present invention; Figure 2 This is a plan view of a vision-guided positioning and grasping device for an intelligent robot provided in a preferred embodiment of the present invention; Figure 3 This is a partial perspective view of a vision-guided positioning and grasping device for an intelligent robot provided in a preferred embodiment of the present invention. Figure 4 This is a partial exploded view of a vision-guided positioning and grasping device for intelligent robots provided in a preferred embodiment of the present invention.

[0016] Explanation of reference numerals in the attached drawings: 1. Fixing frame; 2. Gripper; 3. Vision guidance camera assembly; 31. Mounting base; 311. Limiting pin; 32. Angle adjustment seat; 321. Arc-shaped limiting groove; 33. Second drive mechanism; 331. Second moving slider; 3311. Limiting slide groove; 332. Telescopic frame; 3321. Limiting slider; 333. Guide rod; 334. Second lead screw; 335. Second rotary drive motor; 34. Industrial camera; 4. Synchronous linkage assembly; 41. Synchronous linkage; 5. First drive mechanism; 51. First lead screw; 52. First rotary drive motor; 53. First moving slider; 54. First connecting rod; 55. Second connecting rod; 56. Third connecting rod. Detailed Implementation

[0017] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0018] In the description of the embodiments of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings, or the orientation or positional relationships commonly used when the product is in use. These are merely for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third," etc., are only used for distinguishing descriptions and should not be construed as indicating or implying relative importance. Additionally, the terms "horizontal," "vertical," and "suspended," etc., do not indicate that the component is required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0019] In the description of the embodiments of the present invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0020] To further understand the features, technical means, and specific objectives and functions achieved by the present invention, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

[0021] Reference Figure 1 A positioning and grasping device for intelligent robot vision guidance includes: a fixed frame 1, on which grippers 2 are respectively provided on opposite sides for reciprocating swing; a vision guidance camera assembly 3 and a synchronous linkage assembly 4, wherein the vision guidance camera assembly 3 is disposed between each gripper 2 through the synchronous linkage assembly 4, and can adaptively adjust its position according to the swing amplitude of the gripper 2.

[0022] In the initial state, gripper 2 is fully open, and the camera is in a retracted position, providing a wide field of view covering the area to be gripped. This allows for rapid identification of the workpiece's position, shape, and orientation, completing primary coarse positioning and guiding the robot's end effector to move above the workpiece. Gripper 2 then begins to retract inward to grip the workpiece. Synchronous linkage 41 drives the camera to move synchronously closer to the workpiece, with the imaging magnification increasing as the distance decreases. The field of view shifts from the "global workpiece" to the "gripping contact surface," providing real-time feedback on the relative offset between gripper 2 and the workpiece. This dynamically corrects the gripping position, compensates for workpiece placement errors and mechanical clearances, and after gripper 2 fully closes and grips the workpiece, the camera reaches the corresponding forward extension position to capture the final gripping image. This confirms that the workpiece is centered and unbiased, completing the gripping loop and preventing material drop or positional deviation.

[0023] Reference Figure 2 Preferably, the fixed frame 1 is further provided with a first driving mechanism 5 for driving each gripper 2 to reciprocate relative to each other; wherein, the first driving mechanism 5 includes: a first lead screw 51 and a first rotary drive motor 52, the first lead screw 51 being vertically rotatably mounted on the fixed frame 1 via the first rotary drive motor 52; a first movable slider 53, the first movable slider 53 being threadedly mounted on the first lead screw 51; a first connecting rod 54, the first movable slider 53 being hinged to one end of the first connecting rod 54 on opposite sides respectively; a second connecting rod 55, which is "L"-shaped and its inflection point is rotatably mounted on the fixed frame 1, one end being hinged to the other end of the first connecting rod 54, and the other end being hinged to the gripper 2; a third connecting rod 56, a plurality of third connecting rods 56 are symmetrically arranged on opposite sides of the fixed frame 1, one end of the third connecting rod 56 being hinged to the fixed frame 1, and the other end being hinged to the gripper 2.

[0024] Gripper 2 opens: The motor drives the first lead screw 51 to rotate, which drives the first moving slider 53 to move downward. The first connecting rod 54 pulls the second connecting rod 55 to swing outward around the inflection point, thereby causing gripper 2 to open outward. The third connecting rod 56 moves synchronously to maintain the parallel posture of gripper 2. Gripper 2 retracts and clamps: The motor drives the first lead screw 51 to rotate, the first moving slider 53 moves upward, and pushes the second connecting rod 55 to swing inward around the inflection point through the first connecting rod 54, which drives the gripper 2 to retract inward to complete the clamping. The clamping force can be precisely controlled by the motor torque.

[0025] Reference Figure 2 Preferably, the vision-guided camera assembly 3 includes: a mounting base 31 disposed between each gripper 2; an angle adjustment base 32 and a second drive mechanism 33, wherein the angle adjustment base 32 is rotatably disposed on the mounting base 31 via the second drive mechanism 33; and an industrial camera 34 disposed on the angle adjustment base 32.

[0026] With the gripper 2 fully open and the camera in a retracted position, the control angle adjustment seat 32 reciprocates, allowing for scanning of a larger material tray area without moving the robot. This enables rapid identification of the workpiece's position and orientation, reducing redundant robot movement. The gripper 2 gradually closes, and the camera moves forward. For workpieces placed at an angle, or those with three-dimensional steps or side features, the camera angle is finely adjusted to ensure the optical axis is perpendicular to the surface to be measured, eliminating perspective distortion and accurately extracting the workpiece's coordinates and angle deviations. After the gripper 2 closes to hold the workpiece, the camera is deflected to a side-view angle to observe the gripper 2's engagement depth and whether the workpiece has slipped or deviated. This compensates for the blind spot that cannot be observed from the frontal view, completing the closed-loop verification of the gripping state.

[0027] Reference Figure 3 Preferably, the angle adjustment seat 32 is provided with arc-shaped limiting grooves 321 on both sides, and the mounting seat 31 is symmetrically provided with a plurality of limiting pins 311 that are adapted to each arc-shaped limiting groove 321 on both inner sides.

[0028] The arc-shaped limiting grooves 321 opened on both sides of the angle adjustment seat 32 of this application have their arc center completely coincided with the rotation center of the angle adjustment seat 32, ensuring that when the angle adjustment seat 32 deflects, the movement trajectory of the arc-shaped limiting grooves 321 is strictly concentric with its own rotation trajectory, and will not interfere with the movement of the limiting pins 311.

[0029] Reference Figure 3 Preferably, the second driving mechanism 33 includes: a second movable slider 331, with a telescopic frame 332 retractably disposed below it, the lower end of the telescopic frame 332 being hinged to the angle adjustment seat 32; guide rods 333, a plurality of guide rods 333 being horizontally disposed through the second movable slider 331 on the mounting base 31; a second lead screw 334 and a second rotary drive motor 335, the second lead screw 334 being horizontally rotatably disposed on the mounting base 31 via the second rotary drive motor 335 and being threadedly assembled with the second movable slider 331.

[0030] This application controls the second rotary drive motor 335 to drive the second lead screw 334 to rotate, thereby driving the second moving slider 331 to reciprocate along the guide rod 333. Then, it moves in an arc trajectory through the hinge point between the telescopic frame 332 and the angle adjustment seat 32. The telescopic frame 332 can automatically extend or shorten, and compensate for the distance difference in real time, avoiding structural hard interference and jamming during the transmission process, and ensuring smooth and uninterrupted movement throughout the angle adjustment process.

[0031] Reference Figure 4 Preferably, the telescopic frame 332 is provided with limit sliders 3321 on opposite sides, and the second movable slider 331 is provided with a limit groove 3311 corresponding to each limit slider 3321.

[0032] The limiting slider 3321 of this application is embedded in the corresponding limiting groove 3311. The two are in a high-precision clearance fit and can slide smoothly relative to each other along the extension direction of the groove. It strictly constrains the movement trajectory of the telescopic frame 332 from both sides, allowing it to only extend and retract in a straight line along the preset telescopic axis. This completely restricts the radial offset, circumferential torsion and lateral movement of the telescopic frame 332, ensuring that the telescopic action is always performed smoothly along the design direction.

[0033] Reference Figure 3 Preferably, the synchronous linkage assembly 4 includes a plurality of synchronous linkages 41 symmetrically arranged on opposite sides of the fixed frame 1, with one end of each synchronous linkage 41 hinged to the fixed frame 1 and the other end hinged to the mounting base 31.

[0034] During the opening phase of gripper 2: gripper 2 swings outward, causing synchronous link 41 to deflect outward. The hinged end of mounting base 31 of synchronous link 41 moves away from the workpiece along an arc trajectory. Both sides synchronously pull mounting base 31 backward along the clamping center axis, expanding the camera's field of view and adapting to global material search and large-size workpiece recognition. During the gripper 2 retraction phase: The gripper 2 swings inward, causing the synchronous connecting rod 41 to deflect inward. The hinged end of the mounting base 31 of the synchronous connecting rod 41 moves towards the workpiece. Both sides synchronously push the mounting base 31 forward along the central axis, improving the camera imaging magnification and enabling precise alignment and clamping detail verification.

[0035] The specific workflow is as follows: 1. The first rotary drive motor 52 drives the first lead screw 51 to rotate, driving the first moving slider 53 to move downward. The first connecting rod 54 pulls the L-shaped second connecting rod 55 to swing outward around the turning point, causing the two grippers 2 to open synchronously to the maximum opening. The third connecting rod 56 follows to form a parallelogram constraint, maintaining the gripping surface of the grippers 2 in a parallel posture throughout the process. While the grippers 2 swing outward, they drive the synchronous connecting rods 41 arranged symmetrically on both sides to deflect outward. The hinged end of the mounting base 31 of the synchronous connecting rod 41 moves away from the workpiece along the arc trajectory. The two sides synchronously pull the vision mounting base 31 back along the gripping center axis to the farthest initial position, and the industrial camera 34 is in a large field of view standby state.

[0036] 2. The industrial camera 34 first performs single-frame global imaging in the backward position to quickly identify the approximate distribution, shape, and posture of the workpiece. If the workpiece distribution range exceeds the single-frame field of view, the second rotary drive motor 335 starts, driving the second lead screw 334 to rotate, driving the second moving slider 331 to move horizontally back and forth along the guide rod 333. Through the telescopic frame 332, the angle adjustment seat 32 is driven to reciprocate around the axis of rotation to perform a fan-shaped scan of the area. A larger area can be covered without moving the robot. After the scan is completed, the vision system outputs the coarse positioning coordinates of the workpiece, guiding the robot end effector to move above the target workpiece.

[0037] 3. The robot moves the entire gripping equipment to directly above the target workpiece. At this time, the gripper 2 remains fully open and the camera is still in the retracted position. The industrial camera 34 is facing the workpiece to collect a clear image. The XY offset and angle deviation of the robot end are initially corrected to complete the pre-alignment and prepare for subsequent precise clamping.

[0038] 4. After pre-alignment, the first rotary drive motor 52 drives the first lead screw 51 to rotate. The first lead screw 51 drives the first moving slider 53 to slowly move upward. Through the first connecting rod 54, it pushes the L-shaped second connecting rod 55 to swing inward around the turning point, causing the two grippers 2 on both sides to synchronously retract inward. The third connecting rod 56 follows the movement throughout the entire process, maintaining the parallel translation of the gripper 2's clamping surface, ensuring uniform force and stable posture on the workpiece. As the grippers 2 retract inward, it drives the two synchronous connecting rods 41 on both sides to deflect inward, synchronously pushing the vision mounting base 31 to move closer to the workpiece along the clamping center axis. The opening and closing range of the grippers 2 increases... The closer the camera is to the workpiece, the higher the imaging magnification. The field of view gradually focuses from the "complete workpiece outline" to the "clamping contact surface between the gripper 2 and the workpiece". During the closing process, if the workpiece is tilted, has three-dimensional steps or side features, the second drive mechanism 33 will adjust the deflection angle of the angle adjustment seat 32 in real time to make the camera optical axis perpendicular to the surface to be measured, thus eliminating perspective distortion from the source of imaging. The vision system outputs the relative offset between the gripper 2 and the workpiece in real time, dynamically corrects the position of the robot end, compensates for workpiece placement errors and mechanical clearances, and achieves high-precision alignment before clamping closure.

[0039] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solution of the present invention, and these simple modifications all fall within the protection scope of the present invention.

[0040] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present invention will not describe the various possible combinations separately.

[0041] Furthermore, various different embodiments of the present invention can be combined in any way, as long as they do not violate the spirit of the present invention, they should also be regarded as the content disclosed by the present invention.

Claims

1. An intelligent robot vision-guided positioning and grasping device, characterized by, include: The fixed frame (1) has grippers (2) on its opposite sides that can swing back and forth relative to each other. The visual guidance camera assembly (3) and the synchronous linkage assembly (4) are provided. The visual guidance camera assembly (3) is set between each gripper (2) through the synchronous linkage assembly (4) and can adaptively adjust its position according to the swing amplitude of the gripper (2).

2. The smart robot vision-guided positioning and grasping apparatus according to claim 1, wherein, The fixed frame (1) is also provided with a first drive mechanism (5) for driving each gripper (2) to reciprocate relative to each other; wherein, The first drive mechanism (5) includes: The first lead screw (51) and the first rotary drive motor (52) are vertically and rotatably mounted on the fixed frame (1) by means of the first rotary drive motor (52); The first movable slider (53) is threadedly mounted on the first lead screw (51); The first connecting rod (54) and the first movable slider (53) are respectively hinged to one end of the first connecting rod (54) on opposite sides; The second link (55) is L-shaped and its inflection point is rotatably set on the fixed frame (1). One end is hinged to the other end of the first link (54), and the other end is hinged to the gripper (2). The third link (56) is provided symmetrically on both sides of the fixed frame (1). One end of the third link (56) is hinged to the fixed frame (1), and the other end is hinged to the gripper (2).

3. The smart robot vision-guided positioning and grasping apparatus according to claim 1, wherein, The visual guidance camera assembly (3) includes: Mounting base (31) is disposed between each gripper (2); Angle adjustment seat (32) and a second drive mechanism (33), wherein the angle adjustment seat (32) is rotatably mounted on the mounting base (31) via the second drive mechanism (33); An industrial camera (34) is mounted on an angle adjustment mount (32).

4. The smart robot vision-guided positioning and grasping apparatus according to claim 3, wherein, The angle adjustment seat (32) is provided with arc-shaped limiting grooves (321) on both sides respectively, and the mounting seat (31) is provided with a number of limiting pins (311) that are adapted to each arc-shaped limiting groove (321) on both inner sides respectively.

5. The smart robot vision-guided positioning and grasping apparatus according to claim 4, wherein, The second drive mechanism (33) includes: The second movable slider (331) has a telescopic frame (332) retractably mounted below it, and the lower end of the telescopic frame (332) is hinged to the angle adjustment seat (32); Guide rods (333): Several guide rods (333) are provided horizontally through the second movable slider (331) on the mounting base (31). The second lead screw (334) and the second rotary drive motor (335) are horizontally rotatably mounted on the mounting base (31) via the second rotary drive motor (335) and threadedly assembled with the second movable slider (331).

6. The smart robot vision-guided positioning and grasping apparatus according to claim 5, wherein, The telescopic frame (332) is provided with limit sliders (3321) on both sides respectively, and the second movable slider (331) is provided with a limit groove (3311) corresponding to each limit slider (3321).

7. The intelligent robot vision-guided positioning and grasping device according to claim 3, characterized in that, The synchronous link assembly (4) includes a plurality of synchronous links (41) symmetrically arranged on opposite sides of the fixed frame (1), with one end of each synchronous link (41) hinged to the fixed frame (1) and the other end hinged to the mounting base (31).

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