Visual gripper of industrial robot

Abstract

The utility model relates to the technical field of visual gripper application, and particularly discloses an industrial robot visual gripper which comprises a supporting mechanism and further comprises an object taking mechanism arranged on the supporting mechanism and used for clamping materials. And the object taking mechanism comprises a grabbing assembly, the grabbing assembly comprises an infrared distance meter, an object taking frame is installed on the lower side of the infrared distance meter, a clamping rack is arranged on the upper side of the object taking frame, a transmission gear is installed on one side of the clamping rack, and a material taking motor is installed on the upper side of the transmission gear. The distance between the object taking clamp and a clamped object can be accurately measured through the infrared distance meter, the clamping precision can be improved, the clamping position deviation can be avoided, the object taking clamp is driven to rotate through the clamping rack by utilizing the material taking motor and the transmission gear, and the clamping force of the object taking clamp can be adjusted through gear meshing rotation.

Description

Technical Field

[0001] The utility model relates to the technical field of visual gripper application, and specifically discloses a visual gripper for an industrial robot. Background Art

[0002] Visual grasping is realized based on visual robots, which are divided into four main operation nodes: target object positioning, target posture determination, grasping detection, and grasping planning. When the target is positioned, the predicted grasping frame position is different due to different observation angles. The closer the grasped object is to the camera position, the more accurate the grasping prediction is. There is a gripping error due to the long distance between the visual system and the target object. The existing publication number is CN214490592U, which is an industrial robot visual grasper. The device realizes rotation and up and down reciprocating motion within the range of the mechanical grasping arm by setting a driving accessory device, which is convenient for the mechanical arm to grasp the workpiece. The adjustment of the grasping direction of the mechanical arm is convenient for quickly identifying multiple workpieces in the position and quickly grasping, which can effectively improve work efficiency and grasp multiple workpieces within the range, and avoid the problem of missed grasping. The above device uses the driving accessory device to adjust the grasping direction of the mechanical arm, quickly identify multiple workpieces and grasp them, effectively improve work efficiency and avoid missed grasping, but it cannot avoid the grasping position offset when grasping materials, resulting in loose grasping, and it is not convenient to adjust the clamping force. Utility Model Content

[0003] The purpose of the utility model is to provide an industrial robot visual gripper in order to solve the above problems.

[0004] The utility model achieves the above-mentioned purpose through the following technical solutions:

[0005] An industrial robot visual gripper includes a support mechanism and a picking mechanism arranged on the support mechanism for clamping materials; the picking mechanism includes a picking assembly, the picking assembly includes an infrared rangefinder, a picking rack is installed on the lower side of the infrared rangefinder, a clamping rack is arranged on the upper side of the picking rack, a transmission gear is installed on one side of the clamping rack, and a picking motor is installed on the upper side of the transmission gear.

[0006] Further configuration: the infrared rangefinders are distributed on the object-taking rack in a circular array.

[0007] It is further configured that: the clamping rack is symmetrically installed on both sides of the transmission gear, and a steering assembly is arranged on the upper side of the material taking motor.

[0008] It is further configured that the steering assembly includes a rotating motor, a rotating arm is installed at the lower side of the rotating motor, and the steering motor is installed on the rotating arm.

[0009] It is further configured that a first steering bevel gear is installed at the shaft end of the steering motor, and a steering drive shaft is rotatably connected to the lower side of the rotating arm.

[0010] It is further configured that a second steering bevel gear is installed on the steering drive shaft, and the first steering bevel gear is meshedly connected with the second steering bevel gear.

[0011] It is further configured that: the support mechanism includes a support arm, the object picking rack is rotatably connected to a object picking clamp, and the object picking clamp is rotatably connected to the clamping rack.

[0012] Compared with the prior art, the beneficial effects of the utility model are as follows:

[0013] The infrared rangefinder can accurately measure the distance between the picking clamp and the clamped object, which can improve the clamping accuracy and avoid the clamping position deviation. The picking clamp is driven to rotate by the material picking motor and transmission gear through the clamping rack, and the clamping force of the picking clamp can be adjusted by the gear meshing rotation. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0015] Figure 1 It is an axonometric diagram of an industrial robot visual gripper described in the utility model;

[0016] Figure 2 This is a schematic diagram of the main cross-sectional structure of an industrial robot visual gripper described in the utility model;

[0017] Figure 3 It is a three-dimensional structural schematic diagram of a grasping component of an industrial robot visual grasper described in the utility model;

[0018] Figure 4 yes Figure 2 Schematic diagram of the local enlarged structure at A.

[0019] The following are the descriptions of the reference numerals:

[0020] 1. Support mechanism; 11. Support arm; 12. Pick-up clamp; 13. Rotating frame; 14. Pick-up frame; 2. Pick-up mechanism; 21. Grabbing assembly; 211. Infrared rangefinder; 212. Clamping rack; 213. Pick-up motor; 214. Transmission gear; 22. Steering assembly; 221. Rotating motor; 222. Rotating arm; 223. Steering motor; 224. First steering bevel gear; 225. Steering drive shaft; 226. Second steering bevel gear. DETAILED DESCRIPTION

[0021] In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying 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 the present utility model. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present utility model, unless otherwise specified, "multiple" means two or more.

[0022] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0023] The utility model is further described below in conjunction with the accompanying drawings:

[0024] like Figure 1-Figure 4 As shown, an industrial robot visual gripper includes a support mechanism 1 and a picking mechanism 2 arranged on the support mechanism 1 for gripping materials.

[0025] In this embodiment: the support mechanism 1 includes a support arm 11, a rotating frame 13 is provided at the lower side of the support arm 11, a pick-up rack 14 is installed on the rotating frame 13, a pick-up clamp 12 is rotatably connected to the pick-up rack 14, the pick-up clamp 12 is distributed in a circular array on the pick-up rack 14, a clamping rack 212 is rotatably connected to the pick-up clamp 12, the clamping rack 212 drives the pick-up clamp 12 to rotate to clamp the material, and is connected to the mechanical arm through the support arm 11;

[0026] In this embodiment, the picking mechanism 2 includes a grabbing assembly 21, which includes an infrared rangefinder 211. A clamping rack 212 is provided on the upper side of the picking rack 14, a transmission gear 214 is installed on one side of the clamping rack 212, and a picking motor 213 is installed on the upper side of the transmission gear 214. The infrared rangefinder 211 is distributed on the picking rack 14 in a circular array, and the clamping rack 212 is symmetrically installed on both sides of the transmission gear 214. A steering assembly 22 is provided on the upper side of the picking motor 213. The picking motor 213 drives the clamping rack 212 to move through the transmission gear 214, and the distance from the picking clamp 12 to the material is measured by the infrared rangefinder 211 to facilitate accurate material picking. The steering assembly 22 includes a rotating motor 221, and the lower side of the rotating motor 221 A rotating arm 222 is installed, a steering motor 223 is installed on the rotating arm 222, a first steering bevel gear 224 is installed on the shaft end of the steering motor 223, a steering drive shaft 225 is rotatably connected to the lower side of the rotating arm 222, a second steering bevel gear 226 is installed on the steering drive shaft 225, the first steering bevel gear 224 is meshingly connected with the second steering bevel gear 226, the rotating motor 221 can drive the rotating arm 222 to rotate, the steering motor 223 drives the first steering bevel gear 224 to rotate, the first steering bevel gear 224 drives the second steering bevel gear 226 to rotate, the second steering bevel gear 226 can drive the rotating frame 13 to rotate through the steering drive shaft 225, and the rotating frame 13 drives the picking frame 14 to rotate to adjust the grabbing direction.

[0027] The working principle and use process of the utility model are as follows: the support arm 11 is installed on the mechanical arm, and the rotating arm 222 is driven to rotate by the rotating motor 221. The rotating arm 222 drives the picking clamp 12 to rotate through the rotating frame 13 and the picking frame 14 to adjust the clamping angle of the picking clamp 12, and then the steering motor 223 is started. The steering motor 223 drives the rotating frame 13 to rotate and adjust the grasping direction through the steering drive shaft 225, so that the picking clamp 12 is aligned with the material clamping position, and then the picking motor 213 is started. The picking motor 213 drives the clamping rack 212 to move through the transmission gear 214, and the clamping rack 212 drives the picking clamp 12 to clamp the material, and then the steering component 22 cooperates with the mechanical arm to place the material at the specified position.

[0028] The above shows and describes the basic principle, main features and advantages of an industrial robot visual gripper of the utility model. The technicians in this industry should understand that the utility model is not limited by the above embodiments, and the above embodiments and descriptions are only for explaining the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model will have various changes and improvements, and these changes and improvements fall within the scope of the utility model to be protected.

Claims

1. An industrial robot visual gripper, comprising a support mechanism (1), characterized in that: The invention also comprises a picking mechanism (2) for clamping materials and arranged on the supporting mechanism (1); the picking mechanism (2) comprises a grabbing assembly (21), the grabbing assembly (21) comprises an infrared rangefinder (211), a picking rack (14) is installed on the lower side of the infrared rangefinder (211), a clamping rack (212) is arranged on the upper side of the picking rack (14), a transmission gear (214) is installed on one side of the clamping rack (212), and a picking motor (213) is installed on the upper side of the transmission gear (214).

2. The industrial robot visual gripper according to claim 1, characterized in that: The infrared rangefinders (211) are distributed on the object-retrieving rack (14) in a circular array.

3. The industrial robot visual gripper according to claim 1, characterized in that: The clamping rack (212) is symmetrically mounted on both sides of the transmission gear (214), and a steering assembly (22) is arranged on the upper side of the material taking motor (213).

4. The industrial robot visual gripper according to claim 3, characterized in that: The steering assembly (22) comprises a rotating motor (221), a rotating arm (222) is mounted on the lower side of the rotating motor (221), and a steering motor (223) is mounted on the rotating arm (222).

5. The industrial robot visual gripper according to claim 4, characterized in that: A first steering bevel gear (224) is installed on the shaft end of the steering motor (223), and a steering drive shaft (225) is rotatably connected to the lower side of the rotating arm (222).

6. The industrial robot visual gripper according to claim 5, characterized in that: A second steering bevel gear (226) is mounted on the steering drive shaft (225), and the first steering bevel gear (224) is meshingly connected with the second steering bevel gear (226).

7. The industrial robot visual gripper according to claim 1, characterized in that: The support mechanism (1) comprises a support arm (11), and a picking clamp (12) is rotatably connected to the picking rack (14), and the picking clamp (12) is rotatably connected to the clamping rack (212).

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