Intelligent grabbing device for 3D measurement

Abstract

The utility model relates to the technical field of mechanical clamping jaws, in particular to a 3D measurement intelligent grabbing device which comprises a fixing plate, two grabbing heads, two adjusting blocks, two air cylinder shafts and two air cylinders, two adjusting pieces are fixedly arranged at one end of each grabbing head, the upper end and the lower end of each adjusting piece are in an inwards-concave arc shape, and the two adjusting blocks are arranged on the fixing plate. Four adjusting grooves are formed in the front end of each adjusting block, and the upper end and the lower end of each adjusting groove are each provided with a spring piece. A lower connecting piece is fixedly arranged at the upper end of each adjusting block, an upper connecting piece is fixedly arranged at the upper end of each lower connecting piece, and the upper end of each upper connecting piece is fixedly connected to an air cylinder; the two ends of the lower side of the fixing plate are each fixedly provided with a side limiting piece, and two air cylinder shafts are fixedly connected between the two side limiting pieces. The height of the grabbing head can be adjusted, the grabbing device is suitable for different objects to be grabbed, grabbing heads of different types can be replaced, and the structure is more stable.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical clamps, and in particular to a 3D measurement intelligent grasping device. Background Art

[0002] 3D measurement intelligent grasping refers to the process of using 3D measurement technology to achieve intelligent grasping or clamping of objects. This technology usually involves using sensors or cameras to obtain the three-dimensional shape and position information of the object, and then using this information to guide the robot or automation system to perform grasping actions. This technology has a wide range of applications in industrial automation, logistics and manufacturing.

[0003] The existing technology still has the following areas for improvement: when the size of the object to be grasped changes, the existing grasping device usually needs to replace the entire structure, and disassembling the entire grasping device is time-consuming, labor-intensive and costly. Since the height of the grasping head is different for different objects to be grasped, it is usually necessary to reprogram to adjust the height, which is quite laborious. Utility Model Content

[0004] In order to solve the above problems existing in the prior art, the utility model provides a 3D measurement intelligent grasping device, which can adjust the height of the grasping head, is suitable for different objects to be grasped, can replace different types of grasping heads, and has a more stable structure.

[0005] The purpose of the utility model can be achieved through the following technical solutions:

[0006] A 3D measurement intelligent grasping device, comprising a fixed plate, two grasping heads, two adjustment blocks, two cylinder shafts and two cylinders, two adjustment pieces are fixedly arranged on one end of each grasping head, upper and lower ends of each adjustment piece are both in the shape of an inwardly concave arc, four adjustment slots are opened on the front end of each adjustment block, and a spring sheet is arranged on the upper and lower ends of each adjustment slot;

[0007] A lower connecting piece is fixedly disposed on the upper end of each adjusting block, an upper connecting piece is fixedly disposed on the upper end of each lower connecting piece, and the upper end of each upper connecting piece is fixedly connected to one of the cylinders;

[0008] A side limiter is fixedly provided at both ends of the lower side of the fixed plate, and two cylinder shafts are fixedly connected between the two side limiters. Both cylinders are slidably connected to the two cylinder shafts. A connecting plate is fixedly provided on the rear end of the fixed plate, and a pressing piece is rotatably provided on the other end of the connecting plate.

[0009] Furthermore, an actuator is fixedly provided at the upper end of the pressing member, a fixing member is rotatably provided at the middle position of the connecting plate, an electrical box is fixedly provided at the upper end of the fixing member, and the upper end of the actuator is rotatably connected to the electrical box.

[0010] Furthermore, a middle limiter is fixedly provided at the middle position of the two cylinder shafts, a camera is fixedly provided at the lower end of the middle limiter, and a clamping plate is fixedly provided inside each of the grabbing heads.

[0011] Furthermore, each of the adjustment slots is rectangular, both ends of each of the spring sheets are fixedly connected to the adjustment slot, and the length of the spring sheet is greater than the length of the adjustment slot.

[0012] Furthermore, the connecting plate and the fixing member are connected via a connecting shaft.

[0013] Furthermore, a flange is fixedly provided on the upper end of the electrical box, and the flange is externally connected to a mechanical arm.

[0014] The beneficial effects of the utility model are:

[0015] (1) By setting the adjustment member, the adjustment slot and the spring sheet, the technical effect that can be achieved is that the height of the grasping head can be adjusted by two adjustment members located in different adjustment slots, avoiding reprogramming to adjust the height of the grasping head, which is more time-saving and labor-saving. The arc-shaped adjustment member cooperates with the upper and lower spring sheets to make the structure more stable. The detachable grasping head is easy to replace and can be suitable for different objects to be grasped. Different types of grasping heads can be replaced.

[0016] (2) By setting up a grabbing head and a clamping plate, the technical effect that can be achieved is that the clamping plate is located on the inner side of the grabbing head, and the clamping plate can increase the friction between the grabbing head and the object to be grasped, reduce the wear of the grabbing head, and can be quickly replaced when the clamping plate is damaged, saving material costs and facilitating the next operation to be carried out quickly without affecting the process.

[0017] (3) By setting the actuator, the connecting plate and the fixed plate, the technical effect that can be achieved is that the actuator is set at one end of the connecting plate, and the extension and contraction of the actuator drives the connecting plate to rotate along the connecting axis, driving the fixed plate to move up and down. The structure is simple and convenient for short-distance rapid up and down movement during the grasping process. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to facilitate understanding by those skilled in the art, the present invention is further described below in conjunction with the accompanying drawings.

[0019] Figure 1 It is a front view of the utility model;

[0020] Figure 2It is a right sectional view of the utility model;

[0021] Figure 3 It is a right sectional view of the grabbing head and the adjusting block in the utility model;

[0022] Description of main component symbols:

[0023] In the figure: 1. flange; 2. electrical box; 3. actuator; 4. lower pressure piece; 5. connecting plate; 6. cylinder shaft; 7. adjusting block; 8. grab head; 9. cylinder; 10. fixing plate; 11. connecting shaft; 12. fixing piece; 13. upper connecting piece; 14. lower connecting piece; 15. side limit piece; 16. middle limit piece; 17. camera; 18. clamping plate; 19. adjusting piece; 20. adjusting slot; 21. spring sheet. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application; obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments, and all other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application without making creative work are within the scope of protection of the present application.

[0025] In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", "top / bottom" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0026] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "set / connected", "connected", etc. should be understood in a broad sense. For example, "connected" 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 indirectly connected 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 this application can be understood according to specific circumstances.

[0027] Reference Figures 1 to 3, which is a 3D measurement intelligent grasping device disclosed by the utility model, includes a fixed plate 10, two grasping heads 8, two adjusting blocks 7, two cylinder shafts 6 and two cylinders 9, two adjusting members 19 are fixedly arranged on one end of each grasping head 8, and the upper and lower ends of each adjusting member 19 are both concave arc-shaped, four adjusting slots 20 are opened on the front end of each adjusting block 7, and a spring sheet 21 is arranged on the upper and lower ends of each adjusting slot 20.

[0028] By locating two adjustment members 19 on different adjustment slots 20, the height of the grabbing head 8 can be adjusted, avoiding reprogramming to adjust the height of the grabbing head 8, which is more time-saving and labor-saving. The arc-shaped adjustment member 19 cooperates with the upper and lower spring leaves 21 to make the structure more stable. The detachable grabbing head 8 is easy to replace and can be suitable for different objects to be grasped. Different types of grabbing heads 8 can be replaced.

[0029] A lower connecting member 14 is fixedly disposed on the upper end of each adjusting block 7 , an upper connecting member 13 is fixedly disposed on the upper end of each lower connecting member 14 , and an upper end of each upper connecting member 13 is fixedly connected to a cylinder 9 .

[0030] A side limiter 15 is fixedly provided at both ends of the lower side of the fixed plate 10, two cylinder shafts 6 are fixedly connected between the two side limiters 15, and two cylinders 9 are slidably connected to the two cylinder shafts 6. A connecting plate 5 is fixedly provided on the rear end of the fixed plate 10, and a lower pressure piece 4 is rotatably provided on the other end of the connecting plate 5.

[0031] The upper end of the lower pressure member 4 is fixedly provided with an actuator 3, a fixing member 12 is rotatably provided at the middle position of the connecting plate 5, an electrical box 2 is fixedly provided at the upper end of the fixing member 12, the upper end of the actuator 3 is rotatably connected to the electrical box 2, and a push rod is slidably provided on the actuator 3. The connecting plate 5 and the fixing member 12 are connected by a connecting shaft 11. A flange 1 is fixedly provided at the upper end of the electrical box 2, the flange 1 is externally connected to a mechanical arm, the electrical box 2 is electrically connected to the camera 17, and the electrical box 2 is electrically connected to the two cylinders 9.

[0032] The actuator 3 is arranged at one end of the connecting plate 5. The extension and retraction of the actuator 3 drives the connecting plate 5 to rotate along the connecting shaft 11, driving the fixed plate 10 to move up and down. The structure is simple and convenient for short-distance rapid up and down movement during the grasping process.

[0033] A middle limit member 16 is fixedly provided at the middle position of the two cylinder shafts 6, and a camera 17 is fixedly provided at the lower end of the middle limit member 16. The camera 17 adopts a 3D smart camera and can identify objects through AI. A splint 18 is fixedly provided inside each grabbing head 8. The splint 18 and the grabbing head 8 are connected by bolts, and the splint 18 is located at the lower clamping position of the grabbing head 8.

[0034] The splint 18 is located on the inner side of the grabbing head 8. The splint 18 can increase the friction between the grabbing head 8 and the object to be grabbed, reduce the wear of the grabbing head 8, and can be quickly replaced when the splint 18 is damaged, saving material costs and facilitating the next operation to be carried out quickly without affecting the process.

[0035] Each adjusting slot 20 is rectangular, and both ends of each spring sheet 21 are fixedly connected to the adjusting slot 20 . The length of the spring sheet 21 is greater than the length of the adjusting slot 20 .

[0036] The working principle and use process of the utility model are as follows: the flange 1 is connected to the mechanical arm, and the grabbing head 8 is installed on the suitable adjustment slot 20 according to the requirements. The mechanical arm controls the grabbing device to move above the object to be grabbed, and the camera 17 takes pictures and identifies the object. The electrical box 2 controls the two cylinders 9 to move to both sides along the cylinder shaft 6, and the two grabbing heads 8 move outward. The actuator retracts the push rod, driving the connecting plate 5 to rotate along the connecting shaft 11, and the fixing plate 10 moves downward, driving the grabbing head 8 to move downward;

[0037] The two cylinders 9 move toward the middle limit piece 16, and after clamping the piece to be grasped, the actuator 3 extends the push rod, driving the connecting plate 5 to rotate along the connecting axis 11, the fixed plate 10 moves upward, driving the grasping head 8 to move upward, and moving the robotic arm to the placement position, the actuator retracts the push rod, driving the connecting plate 5 to rotate along the connecting axis 11, the fixed plate 10 moves downward, the grasping head 8 moves downward, the two cylinders 9 move outward, the grasping head 8 moves outward, and the head to be grasped 8 is lowered.

[0038] The above description is only a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as a preferred embodiment as above, it is not intended to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A 3D measurement intelligent grasping device, characterized in that: It comprises a fixed plate (10), two grabbing heads (8), two adjusting blocks (7), two cylinder shafts (6) and two cylinders (9), two adjusting members (19) are fixedly arranged on one end of each grabbing head (8), the upper and lower ends of each adjusting member (19) are both in the shape of an inwardly concave arc, four adjusting slots (20) are opened on the front end of each adjusting block (7), and a spring sheet (21) is arranged at the upper and lower ends of each adjusting slot (20); A lower connecting piece (14) is fixedly disposed on the upper end of each adjusting block (7), an upper connecting piece (13) is fixedly disposed on the upper end of each lower connecting piece (14), and an upper end of each upper connecting piece (13) is fixedly connected to one of the cylinders (9); A side limiter (15) is fixedly provided at both ends of the lower side of the fixing plate (10), two cylinder shafts (6) are fixedly connected between the two side limiters (15), and the two cylinders (9) are slidably connected to the two cylinder shafts (6). A connecting plate (5) is fixedly provided on the rear end of the fixing plate (10), and a pressing piece (4) is rotatably provided on the other end of the connecting plate (5).

2. The 3D measurement intelligent grasping device according to claim 1, characterized in that: An actuator (3) is fixedly arranged at the upper end of the pressing member (4), a fixing member (12) is rotatably arranged at the middle position of the connecting plate (5), an electrical box (2) is fixedly arranged at the upper end of the fixing member (12), and the upper end of the actuator (3) is rotatably connected to the electrical box (2).

3. The 3D measurement intelligent grasping device according to claim 1, characterized in that: A middle stopper (16) is fixedly arranged at the middle position of the two cylinder shafts (6), a camera (17) is fixedly arranged at the lower end of the middle stopper (16), and a clamping plate (18) is fixedly arranged inside each grabbing head (8).

4. The 3D measurement intelligent grasping device according to claim 1, characterized in that: Each of the adjustment slots (20) is rectangular, and both ends of each of the spring sheets (21) are fixedly connected to the adjustment slot (20), and the length of the spring sheet (21) is greater than the length of the adjustment slot (20).

5. The 3D measurement intelligent grasping device according to claim 2, characterized in that: The connecting plate (5) and the fixing member (12) are connected via a connecting shaft (11).

6. The 3D measurement intelligent grasping device according to claim 2, characterized in that: A flange (1) is fixedly provided on the upper end of the electrical box (2), and the flange (1) is externally connected to a mechanical arm.

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