Workpiece turnover robot based on machine vision
By adopting the design of cylinder-driven moving plate and anti-slip strips in the robot workpiece turnover system, combined with the limiting component, the problem of difficulty in stably clamping the workpiece in traditional fixtures is solved, achieving higher clamping stability and operational convenience.
Patent Information
- Application Number
- CN202421043232.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-14
- Publication Date
- 2024-12-27
- Estimated Expiration
- 2034-05-14
AI Technical Summary
The traditional robot flips workpiece clamp has a simple structure and is difficult to achieve stable clamping of workpieces.
Design a workpiece turnover robot based on machine vision, using cylinder to drive the moving plate to slide, and through the joint action of the column and the hinge plate, the clamping plate is achieved, and anti-slip strips are set on the surface of the clamping plate to enhance friction and use limits The position assembly facilitates the removal and installation of the clamping plate.
The stable clamping of the workpiece is achieved, which avoids the instability of traditional fixtures during clamping, and improves the reliability of workpiece processing and the convenience of operation.
Smart Images
Figure CN222249045U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the field of robots, in particular to a workpiece turnover robot based on machine vision. Background Art
[0002] In industrial production, it is necessary to realize operations such as loading, turnover, and unloading of workpieces. Specifically, during the turnover of workpieces, the workpieces need to be turned over to facilitate processing on different surfaces of the workpieces.
[0003] In the prior art, with the advancement of science and technology, mechanized and electronic processing processes have gradually replaced less efficient manual processing. Especially in the process of workpiece turnover, the use of automated robot arms in conjunction with corresponding fixtures to pick up and place workpieces has been more widely used.
[0004] However, the conventional robot fixture for flipping workpieces has a simple structure and is difficult to stably clamp the workpiece when clamping the workpiece. Therefore, the utility model proposes a workpiece turnover robot based on machine vision to solve the above problems. Utility Model Content
[0005] The purpose of the utility model is to provide a workpiece turnover robot based on machine vision to solve the problems raised in the above background technology.
[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a workpiece turnover robot based on machine vision, the workpiece turnover robot based on machine vision comprising: a base, a cylinder bottom plate and a support plate are fixed on both sides of the base by bolts, a pushing cylinder is fixed on the cylinder bottom plate, a movable plate is arranged on the support plate, a ball bearing groove is opened on the surface of the base, and a second column is fixed on the movable plate.
[0007] A connecting plate, a second slide groove is provided on the inner side of the connecting plate, a limit assembly is provided on the surface of the connecting plate, a first column is fixed on the surface of the connecting plate, a movable ball is provided on the inner side of the connecting plate, a clamping plate is provided on the connecting plate, a second slider is fixed on the lower end of the clamping plate, and the first column and the second column are connected by a hinge plate;
[0008] A transmission plate is provided, and a limit rod and a guide rod are fixed on the surface of the transmission plate. A spring is sleeved on the surface of the limit rod.
[0009] Preferably, threaded holes are provided on the surface of the base, and there are two groups of threaded holes, which are respectively located on both sides of the base, and the movable ball and the ball slide groove are adapted to each other. Through holes and guide holes are provided on the surface of the connecting plate, and there are two groups of guide holes, which are symmetrically distributed about the through holes.
[0010] Preferably, the pushing cylinder is located directly below the supporting plate, a first slide groove is provided on both sides of the supporting plate, a first slider is provided on both sides inside the movable plate, the first slider and the first slide groove are slidably connected, and the output end of the pushing cylinder is fixedly connected to the movable plate.
[0011] Preferably, the second columns are provided with two groups, the two groups of second columns are respectively located on both sides of the surface of the movable plate, the two groups of second columns are symmetrically distributed about the support plate, one end of the hinged plate is hinged to the first column, and the other end of the hinged plate is hinged to the second column.
[0012] Preferably, the limiting assembly includes a limiting plug rod, a spring, a guide rod, a transmission plate and a handle, and two groups of guide rods are provided, and the two groups of guide rods are symmetrically distributed about the limiting plug rod.
[0013] Preferably, the guide rod and the guide hole are slidably connected, the limiting rod and the through hole are slidably connected, one end of the spring is fixedly connected to the transmission plate, the other end of the spring is fixedly connected to the connecting plate, a handle is fixed on the surface of the transmission plate, and anti-slip grooves are provided inside the handle.
[0014] Preferably, an anti-slip strip is fixed to the inner surface of the clamping plate, and several groups of anti-slip strips are provided. The several groups of anti-slip strips are evenly distributed on the inner surface of the clamping plate. The second slider and the second slide groove are slidably connected. A limiting hole is provided on the surface of the second slider, and the limiting rod can be inserted into the limiting hole.
[0015] Compared with the prior art, the beneficial effects of the utility model are:
[0016] The workpiece turnover robot based on machine vision proposed by the utility model starts the pushing cylinder, and drives the moving plate to slide along the first sliding groove on the supporting plate through the extension and retraction of the piston rod. Under the joint action of the first column, the second column and the hinged plate, the two clamping plates are brought close to each other, so as to realize the clamping operation of the workpiece. The inner surface of the clamping plate is fixed with an anti-slip strip to enhance the friction with the contact surface of the workpiece and ensure the stability of the clamping. The limit assembly is set, and the clamping plate is easy to operate when disassembling and installing, and it is convenient to replace and repair the clamping plate. This avoids the problem that the traditional robot flipping workpiece has a simple fixture structure and it is difficult to achieve stable clamping of the workpiece when clamping the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] Figure 1 It is a schematic diagram of the structure of the utility model;
[0018] Figure 2 This is a schematic diagram of the structure of the movable plate of the utility model;
[0019] Figure 3 This is a schematic diagram of the support plate structure of the utility model;
[0020] Figure 4 This is a schematic diagram of the structure of the connecting plate and the clamping plate of the utility model;
[0021] Figure 5 for Figure 4 A magnified view of the structure in the middle.
[0022] In the figure: 1. Clamping plate; 2. Connecting plate; 3. First column; 4. Threaded hole; 5. Base; 6. Cylinder bottom plate; 7. Push cylinder; 8. Second column; 9. Hinge plate; 10. Limiting assembly; 11. Anti-skid strip; 12. Moving plate; 13. First slider; 14. Ball bearing slide groove; 15. Support plate; 16. First slide groove; 17. Limiting hole; 18. Second slider; 19. Movable ball bearing; 20. Second slide groove; 21. Handle; 22. Anti-skid pattern; 23. Transmission plate; 24. Limiting rod; 25. Spring; 26. Through hole; 27. Guide hole; 28. Guide rod. DETAILED DESCRIPTION
[0023] In order to make the purpose and technical solution of the utility model clearly and completely described, and the advantages more clearly understood, the embodiments of the utility model are further described in detail in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are part of the embodiments of the utility model, not all of the embodiments, and are only used to explain the embodiments of the utility model, and are not used to limit the embodiments of the utility model. All other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.
[0024] Embodiment 1
[0025] See also Figure 1-Figure 5 The utility model provides a technical solution: a workpiece turnover robot based on machine vision, the workpiece turnover robot based on machine vision comprises: a base 5, a cylinder bottom plate 6 and a support plate 15 are fixed on both sides of the base 5 by bolts, a push cylinder 7 is fixed on the cylinder bottom plate 6, a moving plate 12 is arranged on the support plate 15, a ball slide groove 14 is opened on the surface of the base 5, a second column 8 is fixed on the moving plate 12, an anti-slip strip 11 is fixed on the inner surface of the clamping plate 1, and the anti-slip strip 11 is provided in a plurality of groups, and the plurality of groups of anti-slip strips 11 are evenly distributed on the inner surface of the clamping plate 1;
[0026] A connecting plate 2, a second slide groove 20 is provided on the inner side of the connecting plate 2, a limit assembly 10 is provided on the surface of the connecting plate 2, a first column 3 is fixed on the surface of the connecting plate 2, a movable ball 19 is provided on the inner side of the connecting plate 2, a clamping plate 1 is provided on the connecting plate 2, a second slider 18 is fixed on the lower end of the clamping plate 1, the first column 3 and the second column 8 are connected through a hinge plate 9, a limit rod 24 and a guide rod 28 are fixed on the surface of the transmission plate 23, a spring 25 is sleeved on the surface of the limit rod 24, one end of the hinge plate 9 is hinged to the first column 3, and the other end of the hinge plate 9 is hinged to the second column 8;
[0027] When in use, the device is installed on the robot by bolts using the provided threaded holes 4, and the pushing cylinder 7 is started. The movable plate 12 is driven to slide along the first slide groove 16 on the support plate 15 by the extension and retraction of the piston rod. Under the joint action of the first column 3, the second column 8 and the hinged plate 9, the two clamping plates 1 are brought close to each other, thereby clamping the workpiece. An anti-slip strip 11 is fixed to the inner surface of the clamping plate 1 to enhance the friction force with the contact surface of the workpiece and ensure the stability of the clamping. The provided limit assembly 10 makes it easy to disassemble and install the clamping plate 1, and it is convenient to replace and repair the clamping plate 1.
[0028] Embodiment 2
[0029] On the basis of the first embodiment, the surface of the base 5 is provided with threaded holes 4, and there are two groups of threaded holes 4, which are respectively located on both sides of the base 5, and the movable ball 19 and the ball slide groove 14 are adapted to each other. The surface of the connecting plate 2 is provided with through holes 26 and guide holes 27, and there are two groups of guide holes 27, which are symmetrically distributed about the through holes 26. The pushing cylinder 7 is located directly below the supporting plate 15, and first slide grooves 16 are provided on both sides of the supporting plate 15. First sliders 13 are provided on both sides of the inside of the moving plate 12, and the first slider 13 and the first slide groove 16 are slidably connected, and the output end of the pushing cylinder 7 is fixedly connected to the moving plate 12;
[0030] The second slider 18 and the second slide groove 20 are slidably connected, a limiting hole 17 is provided on the surface of the second slider 18, and a limiting plug rod 24 can be inserted into the limiting hole 17. Two groups of second columns 8 are provided, and the two groups of second columns 8 are respectively located on both sides of the surface of the moving plate 12, and the two groups of second columns 8 are symmetrically distributed about the support plate 15;
[0031] When in use, the first slider 13 and the second slider 18 are slidably connected to improve the stability of the movable plate 12 when moving, and the movable ball 19 rolls in the ball slide groove 14 accordingly, thereby providing guidance and support to avoid jamming. The two groups of second columns 8 are symmetrically distributed about the support plate 15, and the two clamping plates 1 are symmetrically distributed about the support plate 15, so that the two clamping plates 1 move the same distance when performing clamping operations, thereby achieving uniform force when clamping the workpiece and improving the stability of clamping.
[0032] Embodiment 3
[0033] On the basis of the second embodiment, the limit assembly 10 includes a limit rod 24, a spring 25, a guide rod 28, a transmission plate 23 and a handle 21. The guide rod 28 is provided with two groups, and the two groups of guide rods 28 are symmetrically distributed about the limit rod 24. The guide rod 28 and the guide hole 27 are slidably connected, and the limit rod 24 and the through hole 26 are slidably connected. One end of the spring 25 is fixedly connected to the transmission plate 23, and the other end of the spring 25 is fixedly connected to the connecting plate 2. The surface of the transmission plate 23 is fixed with a handle 21, and the inside of the handle 21 is provided with an anti-slip pattern 22;
[0034] When in use, by toggling the handle 21, the limit rod 24 is pulled out of the through hole 26 and held, and the second slider 18 is correspondingly slid into the second slide groove 20 to achieve the installation of the clamping plate 1. Subsequently, the handle 21 is released, and under the rebound action of the spring 25, the limit rod 24 is automatically inserted into the through hole 26 and the limit hole 17 to fix the clamping plate 1 and prevent the clamping plate 1 from accidentally loosening during the clamping process, thereby ensuring the effectiveness and reliability of the clamping action. By toggling the handle 21, the limit rod 24 is pulled out of the through hole 26 and the limit hole 17, and the clamping plate 1 can be removed, which is convenient for replacement or maintenance of the clamping plate 1 after long-term use. During operation, the guide rod 28 moves correspondingly in the guide hole 27, thereby providing guidance and support, improving stability, and the anti-slip grooves 22 provided can increase friction to avoid slipping when the handle 21 is toggled.
[0035] In actual use, the device is installed on the robot by bolts using the set threaded holes 4, and the pushing cylinder 7 is started. The movable plate 12 is driven to slide along the first slide groove 16 on the support plate 15 by the extension and retraction of the piston rod. Under the joint action of the first column 3, the second column 8 and the hinged plate 9, the two clamping plates 1 are brought close to each other, thereby clamping the workpiece. An anti-slip strip 11 is fixed to the inner surface of the clamping plate 1 to enhance the friction with the contact surface of the workpiece and ensure the stability of the clamping. The set limit assembly 10 makes it easy to disassemble and install the clamping plate 1, and it is convenient to replace and repair the clamping plate 1. This avoids the problem that the traditional robot flipping workpiece fixture has a simple structure and is difficult to stably clamp the workpiece when clamping the workpiece.
[0036] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.
Claims
1. A workpiece turnover robot based on machine vision, characterized in that: The machine vision-based workpiece turnover robot comprises: a base (5), a cylinder bottom plate (6) and a support plate (15) are fixed to both sides of the base (5) by bolts, a push cylinder (7) is fixed to the cylinder bottom plate (6), a moving plate (12) is arranged on the support plate (15), a ball bearing slide groove (14) is provided on the surface of the base (5), and a second column (8) is fixed to the moving plate (12); A connecting plate (2), a second slide groove (20) is provided on the inner side of the connecting plate (2), a limit assembly (10) is provided on the surface of the connecting plate (2), a first column (3) is fixed on the surface of the connecting plate (2), a movable ball (19) is provided on the inner side of the connecting plate (2), a clamping plate (1) is provided on the connecting plate (2), a second slider (18) is fixed at the lower end of the clamping plate (1), and the first column (3) and the second column (8) are connected via a hinge plate (9); A transmission plate (23) is provided, and a limiting rod (24) and a guide rod (28) are fixed on the surface of the transmission plate (23). A spring (25) is sleeved on the surface of the limiting rod (24).
2. A workpiece turnover robot based on machine vision according to claim 1, characterized in that: The surface of the base (5) is provided with threaded holes (4), and the threaded holes (4) are provided with two groups. The two groups of threaded holes (4) are respectively located on both sides of the base (5). The movable balls (19) and the ball slide grooves (14) are adapted to each other. The surface of the connecting plate (2) is provided with through holes (26) and guide holes (27), and the guide holes (27) are provided with two groups. The two groups of guide holes (27) are symmetrically distributed about the through holes (26).
3. The workpiece turnover robot based on machine vision according to claim 1, characterized in that: The pushing cylinder (7) is located directly below the supporting plate (15), and first sliding grooves (16) are provided on both sides of the supporting plate (15). First sliding blocks (13) are provided on both sides of the inside of the moving plate (12), and the first sliding blocks (13) and the first sliding grooves (16) are slidably connected. The output end of the pushing cylinder (7) is fixedly connected to the moving plate (12).
4. The workpiece turnover robot based on machine vision according to claim 1, characterized in that: The second columns (8) are provided with two groups, the two groups of second columns (8) are respectively located on both sides of the surface of the movable plate (12), the two groups of second columns (8) are symmetrically distributed about the support plate (15), one end of the hinged plate (9) is hinged to the first column (3), and the other end of the hinged plate (9) is hinged to the second column (8).
5. The workpiece turnover robot based on machine vision according to claim 1, characterized in that: The limiting assembly (10) comprises a limiting plug rod (24), a spring (25), a guide rod (28), a transmission plate (23) and a handle (21). The guide rods (28) are provided in two groups, and the two groups of guide rods (28) are symmetrically distributed with respect to the limiting plug rod (24).
6. The workpiece turnover robot based on machine vision according to claim 5, characterized in that: The guide rod (28) and the guide hole (27) are slidably connected, the limit rod (24) and the through hole (26) are slidably connected, one end of the spring (25) is fixedly connected to the transmission plate (23), and the other end of the spring (25) is fixedly connected to the connecting plate (2), a handle (21) is fixed on the surface of the transmission plate (23), and an anti-slip pattern (22) is provided inside the handle (21).
7. The workpiece turnover robot based on machine vision according to claim 1, characterized in that: The inner surface of the clamping plate (1) is fixed with an anti-slip strip (11), and the anti-slip strip (11) is provided with a plurality of groups, and the plurality of groups of anti-slip strips (11) are evenly distributed on the inner surface of the clamping plate (1); the second sliding block (18) and the second sliding groove (20) are slidably connected, and a limiting hole (17) is provided on the surface of the second sliding block (18), and a limiting plug rod (24) can be inserted into the limiting hole (17).