Visual multifunctional gripper of intelligent robot

Abstract

The utility model relates to the technical field of robots, in particular to a vision multifunctional gripper of an intelligent robot, which comprises a base, a clamping mechanism, a tightening mechanism and a photographing positioning mechanism, the base comprises a gripper connecting seat, a gripper adapter plate and a fastening plate, the gripper connecting seat and the gripper adapter plate are connected with each other, a torque sensor is arranged between the gripper connecting seat and the gripper adapter plate, and the fastening plate is fixedly arranged on the gripper adapter plate; the number of the clamping mechanisms is two, the two clamping mechanisms are arranged on the two sides of the torque sensor correspondingly and used for clamping workpieces of different specifications, and the two clamping mechanisms are both arranged on the fastening plate. After the workpiece is grabbed, the workpiece can be directly assembled and tightened by the tightening mechanism, so that the labor intensity of workers is greatly reduced, a large amount of manpower and financial resources are reduced, and the working efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent manufacturing, in particular to a visual multifunctional gripper of an intelligent robot. Background Art

[0002] A robotic vision gripper is an automated device that imitates human arms to achieve certain specific functions. It uses a visual camera to take pictures of the workpiece to locate it, and a cylinder drives the gripper to clamp the object, replacing manual grasping, placing objects, or acting as an operating tool. Its characteristic is that it can complete various expected tasks through robot programming. It has the advantages of both humans and robots in structure and function, can reduce manual labor intensity, save a lot of manpower and financial resources, and improve work efficiency.

[0003] A visual gripper for an industrial intelligent robot with publication number CN219485027U includes a connecting plate connected to the robot arm, a "V"-shaped claw fixing frame arranged on the lower surface of the connecting plate, and a left pneumatic claw and a right pneumatic claw arranged on the oblique arms on the left and right sides of the claw fixing frame. A corner drive device is provided in the "V"-shaped space enclosed by the connecting plate and the claw fixing frame, and the upper end of the corner drive device is fixed to the lower surface of the connecting plate at a position directly above the "V"-shaped tip of the corresponding claw fixing frame.

[0004] However, existing robot vision grippers are generally only used to grasp and place workpieces, and cannot directly assemble and tighten the workpieces after grasping them. Utility Model Content

[0005] The purpose of the present invention is to solve the above problems and to provide a visual multifunctional gripper for an intelligent robot in order to overcome the defects of the prior art, as described below.

[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0007] The utility model provides a visual multifunctional gripper of an intelligent robot, comprising a base, a clamping mechanism, a tightening mechanism and a photo positioning mechanism;

[0008] The base comprises a gripper connection seat, a gripper adapter plate and a fastening plate, wherein the gripper connection seat and the gripper adapter plate are connected to each other and a torque sensor is arranged therebetween, and the fastening plate is fixedly arranged on the gripper adapter plate;

[0009] The clamping mechanism is provided with two groups, and the two groups of the clamping mechanism are respectively arranged on both sides of the torque sensor for clamping workpieces of different specifications, and the two groups of the clamping mechanism are both arranged on the fastening plate;

[0010] The tightening mechanism is arranged on the fastening plate between the two sets of clamping mechanisms to absorb the screws and tighten the workpiece;

[0011] The photographic positioning mechanism is provided with two groups for photographing and positioning the pin holes of the workpiece and for photographing the pins that need to be placed in the workpiece position. The two groups of photographic positioning mechanisms are arranged on the opposite side of the fastening plate and the tightening mechanism.

[0012] Preferably, the clamping mechanism includes a clamping cylinder and a fixed clamping jaw, the clamping cylinder is fixedly arranged on a fastening plate via a cylinder fixing plate, the push rod head ends of the clamping cylinders of the two groups of clamping mechanisms are respectively connected with movable clamping jaws via a first movable clamping jaw adapter plate and a second movable clamping jaw adapter plate, and the fixed clamping jaw is fixedly arranged on the fastening plate and is arranged opposite to the movable clamping jaw.

[0013] Preferably, a blocking cylinder is provided on the cylinder fixing plate for positioning the clamping cylinder push rod by limiting its retraction.

[0014] Preferably, the movable jaw and the fixed jaw are both made of nylon, and a positioning groove and a positioning fitting surface are respectively provided on the side where the movable jaw and the fixed jaw fit together.

[0015] Preferably, the tightening mechanism comprises a tightening gun clamping seat, on which a tightening gun is detachably provided, and on which a tightening gun clamping block for pressing the tightening gun thereon is further provided, and the tightening gun clamping seat is fixed on a fastening plate.

[0016] Preferably, the photographing positioning mechanism comprises a camera, a double telecentric lens and a coaxial light source connected in sequence; a photographing positioning mechanism support is provided on one side of the double telecentric lens; the camera is fixedly provided on the photographing positioning mechanism support through a camera mounting seat; double telecentric lens clamping blocks and double telecentric lens clamping seats for clamping and fixing the double telecentric lens are provided on both sides of the double telecentric lens; the double telecentric lens clamping seat and the photographing positioning mechanism support are fixedly connected to each other, and the photographing positioning mechanism support and the cylinder fixing plate are fixedly connected to each other.

[0017] Preferably, the tightening mechanism and the camera positioning mechanism are distributed on both sides of the torque sensor in the up and down directions.

[0018] The beneficial effects are:

[0019] 1. The torque sensor installed between the gripper connection seat and the gripper adapter plate can sense various torques of the gripper during the clamping, installation and tightening process, so that the robot gripper can work within the rated range and extend the service life of the gripper;

[0020] 2. The clamping mechanism can grasp a variety of different workpieces through the cooperation of the clamping cylinder, the blocking cylinder, the fixed jaws and the movable jaws;

[0021] 3. After grabbing the workpiece, the tightening mechanism can directly assemble and tighten the workpiece, which greatly reduces the labor intensity of manual labor, saves a lot of manpower and financial resources, and improves work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] 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 work.

[0023] Figure 1 This is a three-dimensional structural diagram of the utility model in the first direction;

[0024] Figure 2 This is a three-dimensional structural diagram of the utility model in the second direction;

[0025] Figure 3 It is a three-dimensional structural diagram of the utility model in the third direction;

[0026] Figure 4 It is a three-dimensional structural diagram of the utility model in the fourth direction.

[0027] The accompanying drawings are marked as follows: 1. Grip connecting seat; 2. Grip adapter plate; 3. Torque sensor; 4. Fastening plate; 5. Tightening gun; 6. Cylinder fixing plate; 7. Blocking cylinder; 8. Tightening gun clamping block; 9. Tightening gun clamping seat; 10. Camera mounting seat; 11. Camera; 12. Double telecentric lens clamping block; 13. Double telecentric lens clamping seat; 14. Photo positioning mechanism support; 15. Double telecentric lens; 16. Coaxial light source; 17. First movable jaw adapter plate; 18. Clamping cylinder; 19. Movable jaw; 20. Fixed jaw; 21. Second movable jaw adapter plate. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the utility model.

[0029] See also Figure 1-Figure 2As shown, the utility model provides a visual multifunctional gripper of an intelligent robot, including a base, a clamping mechanism, a tightening mechanism and a photo positioning mechanism;

[0030] The base includes a gripper connecting seat 1, a gripper adapter plate 2 and a fastening plate 4, wherein the gripper connecting seat 1 and the gripper adapter plate 2 are connected to each other with a torque sensor 3 arranged therebetween, and the fastening plate 4 is fixedly arranged on the gripper adapter plate 2; wherein the torque sensor 3 can sense various torques of the gripper during the clamping, installation and tightening processes, allowing the robot and the gripper to work within the rated range, effectively extending the service life.

[0031] There are two groups of clamping mechanisms, which are respectively arranged on both sides of the torque sensor 3 for clamping workpieces of different specifications, and both groups of clamping mechanisms are arranged on the fastening plate 4;

[0032] The tightening mechanism is arranged on the fastening plate 4 between the two sets of clamping mechanisms and is used to absorb the screws and tighten the workpiece;

[0033] The photographic positioning mechanism is provided with two groups for photographing and positioning the pin holes of the workpiece and for photographing the pins that need to be placed in the workpiece position. The two groups of photographic positioning mechanisms are arranged on the opposite side of the fastening plate 4 and the tightening mechanism.

[0034] The clamping mechanism includes a clamping cylinder 18 and a fixed clamping jaw 20. The clamping cylinder 18 is fixedly arranged on the fastening plate 4 through a cylinder fixing plate 6. The push rod heads of the clamping cylinders 18 of the two sets of clamping mechanisms are connected to movable clamping jaws 19 through a first movable clamping jaw adapter plate 17 and a second movable clamping jaw adapter plate 21, respectively. The fixed clamping jaw 20 is fixedly arranged on the fastening plate 4 and arranged opposite to the movable clamping jaw 19. A blocking cylinder 7 is arranged on the cylinder fixing plate 6 to position the push rod of the clamping cylinder 18 for retraction and limiting. The movable clamping jaw 19 and the fixed clamping jaw 20 are made of nylon, and a positioning groove and a positioning fitting surface are respectively arranged on the side where the movable clamping jaw 19 and the fixed clamping jaw 20 are attached to each other. A speed regulating valve and a pressure reducing valve are installed at the air source of the clamping cylinder 18, which adopts the existing technology and is well known to those skilled in the art, and can adjust the cylinder movement speed and control the cylinder intake air pressure. By adjusting the pressure reducing valve and the speed regulating valve, the speed of the clamping cylinder 18 during clamping is moderate, and the clamping force is within the permitted range of the product. The guide rod of the clamping cylinder 18 drives the movable clamping claw 19 to move back and forth during the up and down movement to clamp the workpiece. Since the clamping cylinder 18 has only two states, namely, lifting and contracting, a blocking cylinder 7 is installed. When clamping a shorter workpiece, the clamping cylinder 18 contracts to the tightest state by default. When clamping a longer workpiece, the guide rod of the blocking cylinder 7 extends to prevent the clamping cylinder 18 from continuing to contract, thereby playing a positioning role. Preferably, the two sets of clamping mechanisms are located on the left and right of the torque sensor 3 in a left-right opposite manner, so that four types of workpieces can be grasped.

[0035] The tightening mechanism includes a tightening gun clamping seat 9, on which a tightening gun 5 is detachably provided. The tightening gun clamping seat 9 is also provided with a tightening gun clamping block 8 for pressing the tightening gun 5 thereon. The tightening gun clamping seat 9 is fixed on the fastening plate 4.

[0036] The photographing and positioning mechanism comprises a camera 11, a double telecentric lens 15 and a coaxial light source 16 connected in sequence. A photographing and positioning mechanism support 14 is arranged on one side of the double telecentric lens 15. The camera 11 is fixedly arranged on the photographing and positioning mechanism support 14 through a camera mounting seat 10. A double telecentric lens clamping block 12 and a double telecentric lens clamping seat 13 for clamping and fixing the double telecentric lens 15 are arranged on both sides. The double telecentric lens clamping seat 13 and the photographing and positioning mechanism support 14 are fixedly connected to each other, and the photographing and positioning mechanism support 14 and the cylinder fixing plate 6 are fixedly connected to each other. Among them, the photographing and positioning mechanism installs the workpiece to the corresponding position after the system calculates. After the workpiece is installed to the corresponding position, the photographing and positioning mechanism takes a picture of the screw again, and the tightening mechanism tightens the workpiece after sucking the screw.

[0037] The tightening mechanism and the camera positioning mechanism are distributed on both sides of the torque sensor 3 in the up-down direction.

[0038] As mentioned above, weight-reducing holes can be provided on the gripper adapter plate 2, the fastening plate 4 and the camera positioning mechanism support 14, which not only saves materials, but also reduces the overall gripper mass and the load on the robot.

[0039] Working principle and technical effect of this utility model:

[0040] When the pallet that needs to hold the workpiece arrives at the fixed position from the conveyor line, one of the photo positioning mechanisms starts to take a photo of the QR code of the workpiece at the initial position to facilitate the identification and grasping of the workpiece. The clamping cylinder 18 of the clamping mechanism drives the movable jaw 19 to move, thereby changing the distance between the movable jaw 19 and the fixed jaw 20, thereby achieving the clamping and lowering operation of the workpiece. Specifically, when the push rod of the clamping cylinder 18 retracts, the distance between the movable jaw 19 and the fixed jaw 20 becomes smaller, thereby achieving the clamping and fixation of the workpiece.

[0041] At this time, the visual multifunctional gripper of the intelligent robot moves to the top of the tray containing the workpiece, and another set of photo positioning mechanism starts to work, taking photos to position the pins of the tray, and the workpiece and the tray are fully matched through the photo positioning mechanism. The robot arm is connected to the gripper connection seat 1. The robot arm adopts the existing technology and is well known to those skilled in the art. The robot arm presses down hard, and the torque sensor 3 detects the magnitude of the force until the workpiece and the tray are just pressed tightly. The clamping cylinder 18 is released and the robot arm is lifted. After the shortest workpiece is grasped, the robot repeats the above steps and continues to grasp the other three specifications of workpieces until all workpieces are grasped.

[0042] After the workpiece is grasped and installed in the corresponding position, the photographing and positioning mechanism continues to photograph and position the screw, the tightening mechanism absorbs the screw, and the photographing and positioning mechanism again photographs and positions the screw hole on the workpiece. After calculation by the system, the tightening gun 5 tightens the workpiece. At this time, the entire grasping and tightening process is completed.

[0043] The above is only a specific implementation of the utility model, but the protection scope of the utility model is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the utility model, which should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model should be based on the protection scope of the claims.

Claims

1. A visual multifunctional gripper for an intelligent robot, characterized in that: It includes a base, a clamping mechanism, a tightening mechanism and a photo positioning mechanism; The base comprises a gripper connection seat (1), a gripper adapter plate (2) and a fastening plate (4), wherein the gripper connection seat (1) and the gripper adapter plate (2) are connected to each other and a torque sensor (3) is arranged between the two, and the fastening plate (4) is fixedly arranged on the gripper adapter plate (2); Two groups of the clamping mechanisms are provided, and the two groups of the clamping mechanisms are respectively arranged on both sides of the torque sensor (3) for clamping workpieces of different specifications, and the two groups of the clamping mechanisms are both arranged on the fastening plate (4); The tightening mechanism is arranged on the fastening plate (4) between the two sets of clamping mechanisms and is used to absorb the screws and tighten the workpiece; The photographic positioning mechanism is provided with two groups for photographing and positioning the pin holes of the workpiece and for photographing the pins at the positions where the workpiece needs to be placed. The two groups of photographic positioning mechanisms are arranged on the side of the fastening plate (4) opposite to the tightening mechanism.

2. The visual multifunctional gripper of an intelligent robot according to claim 1, characterized in that: The clamping mechanism comprises a clamping cylinder (18) and a fixed clamping jaw (20); the clamping cylinder (18) is fixedly arranged on the fastening plate (4) via a cylinder fixing plate (6); the push rod heads of the clamping cylinders (18) of the two sets of clamping mechanisms are respectively connected to movable clamping jaws (19) via a first movable clamping jaw adapter plate (17) and a second movable clamping jaw adapter plate (21); and the fixed clamping jaw (20) is fixedly arranged on the fastening plate (4) and is arranged opposite to the movable clamping jaw (19).

3. The visual multifunctional gripper of an intelligent robot according to claim 2, characterized in that: The cylinder fixing plate (6) is provided with a blocking cylinder (7) for limiting the retraction of the push rod of the clamping cylinder (18) and playing a positioning role.

4. The visual multifunctional gripper of an intelligent robot according to claim 2, characterized in that: The movable clamping jaw (19) and the fixed clamping jaw (20) are both made of nylon material, and a positioning groove and a positioning fitting surface are respectively provided on the side where the movable clamping jaw (19) and the fixed clamping jaw (20) are fitted to each other.

5. The visual multifunctional gripper of an intelligent robot according to claim 1, characterized in that: The tightening mechanism comprises a tightening gun clamping seat (9), on which a tightening gun (5) is detachably provided, and on which a tightening gun clamping seat (9) is also provided a tightening gun clamping pressure block (8) for pressing the tightening gun (5) thereon, and the tightening gun clamping seat (9) is fixed on a fastening plate (4).

6. The visual multifunctional gripper of an intelligent robot according to claim 1, characterized in that: The photographing positioning mechanism comprises a camera (11), a double telecentric lens (15) and a coaxial light source (16) connected in sequence; a photographing positioning mechanism support (14) is provided on one side of the double telecentric lens (15); the camera (11) is fixedly mounted on the photographing positioning mechanism support (14) via a camera mounting seat (10); double telecentric lens clamping blocks (12) and a double telecentric lens clamping seat (13) for clamping and fixing the double telecentric lens (15) are provided on both sides of the double telecentric lens (15); the double telecentric lens clamping seat (13) and the photographing positioning mechanism support (14) are fixedly connected to each other; and the photographing positioning mechanism support (14) and the cylinder fixing plate (6) are fixedly connected to each other.

7. The visual multifunctional gripper of an intelligent robot according to claim 1, characterized in that: The tightening mechanism and the photographing and positioning mechanism are distributed on both sides of the torque sensor (3) in the up-down direction.

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