Positioning and clamping device based on robot vision

Abstract

The utility model discloses a positioning and clamping device based on robot vision, and relates to the technical field of positioning and clamping devices. The bottom of the rotating column is fixedly connected with the top of the bottom plate; the bottom of the connecting plate is fixedly connected with the top of the rotating column; the top of the telescopic rod is fixedly connected with the side, away from the rotating column, of the connecting plate; the clamping assembly is located under the telescopic rod, and the clamping assembly is used for clamping a workpiece; and the top of the positioning assembly is fixedly connected with the bottom of the telescopic rod, the inner side of the positioning assembly is slidably connected with the outer side of the clamping assembly, and the positioning assembly is used for driving the clamping assembly to move. According to the device, by arranging the positioning assembly, the clamping assembly is driven to clamp objects, manpower is reduced, the working efficiency is improved, the clamping assembly is stable in clamping, problems can be found in time, and sliding of the objects is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of positioning and clamping devices, in particular to a positioning and clamping device based on robot vision. Background Art

[0002] Robot vision refers to not only taking visual information as input, but also processing this information to extract useful information and provide it to the robot. Due to the rapid development of microcomputers, practical vision systems have entered various fields, among which there are a large number of vision systems used for robots.

[0003] In the prior art, there is a positioning and clamping device with Chinese patent number CN218226703U, which includes a first driving member, a base, a clamping assembly and a ball plunger, wherein the first driving member is arranged at the output end of the robot arm, and the output end of the first driving member can reciprocate between an initial position and a clamping position along a first direction.

[0004] In the prior art, the picking and transferring of many objects need to be done manually, which has low production efficiency and wastes a lot of labor. However, the existing positioning and clamping devices have poor clamping effect, cannot stably position and clamp the devices, and objects are prone to slipping. In order to solve the above problems, we propose a positioning and clamping device based on robot vision. Utility Model Content

[0005] In view of the deficiencies of the prior art, the technical solution adopted by the utility model to solve the technical problems is: a positioning and clamping device based on robot vision, comprising a bottom plate; a rotating column, the bottom of the rotating column is fixedly connected to the top of the bottom plate; a connecting plate, the bottom of the connecting plate is fixedly connected to the top of the rotating column; a telescopic rod, the top of the telescopic rod is fixedly connected to the side of the connecting plate away from the rotating column; a clamping component, the clamping component is located directly below the telescopic rod, and the clamping component is used to clamp the workpiece; a positioning component, the top of the positioning component is fixedly connected to the bottom of the telescopic rod, the inner side of the positioning component is slidably connected to the outer side of the clamping component, the positioning component is used to drive the clamping component to move, by setting the positioning component, the clamping component is driven to clamp the object, the position of the object is judged by the robot vision, and the object is automatically clamped and transferred, which reduces the use of manpower and increases work efficiency. By setting the clamping component, the object is clamped and fixed, the clamping is stable, the fixation is firm, and the object is prevented from slipping. When the object slips, the problem can be quickly discovered to prevent the object from slipping and affecting the working process of the device.

[0006] Preferably, the positioning assembly includes a shell, the top of the shell is fixedly connected to the bottom of the telescopic rod, a motor is fixedly installed on the outside of the shell, the output end of the motor passes through the shell and is fixedly connected to a threaded rod, both ends of the threaded rod are rotatably connected to the inner side of the shell, a side of the threaded rod close to the motor is fixedly connected to a forward thread, and a side of the threaded rod away from the forward thread is fixedly connected to a reverse thread. By setting the positioning assembly, the clamping assembly is driven to clamp the object, and the object is clamped and transferred, which speeds up work efficiency and facilitates the clamping and transfer of the object.

[0007] Preferably, the clamping assembly includes a sliding block, the inner side of the sliding block is threadedly connected to the two sides of the threaded rod, the outer side of the sliding block is slidably connected to the inner side of the shell, the bottom of the sliding block is fixedly connected to a movable block, the outer side of the movable block is fixedly connected to a clamping assembly, and the clamping assembly is driven to move by the positioning assembly to clamp and fix the object, which is convenient and easy to clamp.

[0008] Preferably, the clamping assembly includes a clamping plate, the outer side of the clamping plate is fixedly connected to the outer side of the movable block, and the side of the clamping plate away from the movable block is fixedly connected to a rubber plate. By setting up the clamping assembly, the object is clamped and fixed, and the rubber plate increases the stability of the object, so that the object is firmly fixed to prevent the object from slipping.

[0009] Preferably, a pressure sensor is fixedly installed on the inner side of the clamping plate, a side of the pressure sensor away from the clamping plate is fixedly connected to a rebound spring, an end of the rebound spring away from the pressure sensor is fixedly connected to an anti-skid plate, the outer side of the anti-skid plate is slidably connected to the inner side of the clamping plate, and a buffer plate is fixedly connected to the side of the anti-skid plate away from the rebound spring. By setting up a clamping assembly, when an object slips, problems can be quickly discovered, which facilitates staff to inspect and repair the device, avoiding problems with the device that affect the work progress.

[0010] The beneficial effects of the utility model are as follows:

[0011] 1. The utility model sets a positioning component to drive the clamping component to clamp objects, judges the position of the object through robot vision, and automatically clamps and transfers the object, thereby reducing the use of manpower and increasing work efficiency.

[0012] 2. The utility model clamps and fixes objects by setting a clamping component, which ensures stable clamping and reliable fixation to prevent objects from slipping. When objects slip, the problem can be quickly discovered to prevent the objects from slipping and affecting the working process of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is the front view of the utility model;

[0014] Figure 2 It is a cross-sectional view of the utility model;

[0015] Figure 3 It is a structural sectional view of the positioning assembly of the utility model;

[0016] Figure 4 It is a structural schematic diagram of the clamping assembly of the utility model;

[0017] Figure 5 It is a structural sectional view of the clamping assembly of the utility model;

[0018] Figure 6 This utility model Figure 5 Schematic diagram of the structure of part A.

[0019] In the figure: 1. bottom plate; 2. rotating column; 3. connecting plate; 4. telescopic rod; 5. positioning assembly; 51. housing; 52. motor; 53. threaded rod; 54. forward thread; 55. reverse thread; 6. clamping assembly; 61. sliding block; 62. movable block; 63. clamping assembly; 631. clamping plate; 632. rubber plate; 633. pressure sensor; 634. rebound spring; 635. anti-skid plate; 636. buffer plate. DETAILED DESCRIPTION

[0020] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The embodiments of the present invention are provided for the purpose of illustration and description, and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations are obvious to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention, and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific purposes.

[0021] Example:

[0022] See also Figure 1-Figure 6The utility model provides a technical solution: a positioning and clamping device based on robot vision, including a base plate 1; a rotating column 2, the bottom of the rotating column 2 is fixedly connected to the top of the base plate 1; a connecting plate 3, the bottom of the connecting plate 3 is fixedly connected to the top of the rotating column 2; a telescopic rod 4, the top of the telescopic rod 4 is fixedly connected to the side of the connecting plate 3 away from the rotating column 2; a clamping component 6, the clamping component 6 is located directly below the telescopic rod 4, and the clamping component 6 is used to clamp the workpiece; a positioning component 5, the top of the positioning component 5 is fixedly connected to the bottom of the telescopic rod 4, the inner side of the positioning component 5 is slidably connected to the outer side of the clamping component 6, the positioning component 5 is used to drive the clamping component 6 to move, when in use, the object is placed on the base plate 1, the device judges the position of the object by robot vision, and the rotating column 2 drives the connecting plate 3 to rotate The connecting plate 3 drives the telescopic rod 4 to rotate, and the telescopic rod 4 drives the positioning component 5 and the clamping component 6 to rotate. The clamping component 6 rotates to the top of the object, and the telescopic rod 4 drives the positioning component 5 and the clamping component 6 to move downward to the object, and the positioning component 5 drives the clamping component 6 to clamp and fix the object. Then, the rotating column 2 drives the clamping component 6 to move, and the clamping component 6 transfers the object. By setting the positioning component 5, the clamping component 6 is driven to clamp the object, and the position of the object is judged by the robot vision, and the object is automatically clamped and transferred, which reduces the use of manpower and increases work efficiency. By setting the clamping component 6, the object is clamped and fixed, the clamping is stable, and the fixation is firm to prevent the object from slipping. When the object slips, the problem can be quickly discovered to prevent the object from slipping and affecting the working progress of the device.

[0023] The positioning assembly 5 includes a shell 51, the top of the shell 51 is fixedly connected to the bottom of the telescopic rod 4, and a motor 52 is fixedly installed on the outer side of the shell 51. The output end of the motor 52 passes through the shell 51 and is fixedly connected to a threaded rod 53. Both ends of the threaded rod 53 are rotatably connected to the inner side of the shell 51, and the side of the threaded rod 53 close to the motor 52 is fixedly connected with a forward thread 54, and the side of the threaded rod 53 away from the forward thread 54 is fixedly connected with a reverse thread 55. When in use, the telescopic rod 4 drives the positioning assembly 5 and the clamping assembly 6 to move downward to the object, and the motor 52 in the positioning assembly 5 is started, and the motor 52 drives the threaded rod 53 to rotate. Since the forward thread 54 and the reverse thread 55 are provided on both sides of the threaded rod 53, and the directions of the two threads are opposite, the threaded rod 53 drives the clamping assembly 6 to approach each other. By setting the positioning assembly 5, the clamping assembly 6 is driven to clamp the object, and the object is clamped and transferred, which speeds up the work efficiency and facilitates the clamping and transfer of the object.

[0024] The clamping assembly 6 includes a sliding block 61, the inner side of the sliding block 61 is threadedly connected to the two sides of the threaded rod 53, the outer side of the sliding block 61 is slidably connected to the inner side of the shell 51, the bottom of the sliding block 61 is fixedly connected to a movable block 62, and the outer side of the movable block 62 is fixedly connected to a clamping assembly 63. When in use, the threaded rod 53 drives the sliding blocks 61 on both sides to approach each other, the sliding block 61 moves along the shell 51 toward the object, the sliding block 61 drives the movable block 62 to move, the movable block 62 drives the clamping assembly 63 to move, the clamping assembly 63 moves to the object, and the object is clamped and fixed. The positioning assembly 5 drives the clamping assembly 6 to move to clamp and fix the object. The process is convenient and it is easy to clamp the object.

[0025] The clamping assembly 63 includes a clamping plate 631, the outer side of the clamping plate 631 is fixedly connected to the outer side of the movable block 62, and a rubber plate 632 is fixedly connected to the side of the clamping plate 631 away from the movable block 62. When in use, the movable block 62 drives the clamping assembly 63 to move, and the clamping assembly 63 moves to the object. The clamping plate 631 in the clamping assembly 63 contacts the object, and the two clamping plates 631 clamp both sides of the object. The rubber plate 632 enhances the friction between the clamping plate 631 and the object to prevent the object from slipping. By setting the clamping assembly 63, the object is clamped and fixed, and the rubber plate 632 increases the stability of the object, so that the object is firmly fixed to prevent the object from slipping.

[0026] A pressure sensor 633 is fixedly installed on the inner side of the clamping plate 631, and a rebound spring 634 is fixedly connected to the side of the pressure sensor 633 away from the clamping plate 631. An anti-skid plate 635 is fixedly connected to the end of the rebound spring 634 away from the pressure sensor 633. The outer side of the anti-skid plate 635 is slidably connected to the inner side of the clamping plate 631, and a buffer plate 636 is fixedly connected to the side of the anti-skid plate 635 away from the rebound spring 634. When in use, when the clamping plate 631 clamps an object, the anti-skid plate 635 is driven by the object to move to the inner side of the clamping plate 631, and the buffer plate 636 reduces the impact of the anti-skid plate 635 on the object, and the anti-skid plate 635 The inward movement compresses the rebound spring 634, and the rebound spring 634 applies pressure to the pressure sensor 633. If the object slips and moves under the anti-slip plate 635, the rebound spring 634, under the influence of its own elastic force, drives the anti-slip plate 635 to move to the outside of the clamping plate 631, and the rebound spring 634 no longer applies pressure to the pressure sensor 633. The pressure on the pressure sensor 633 is reduced, and an alarm can be issued in time to remind the staff. By setting the clamping assembly 63, when the object slips, the problem can be quickly discovered, which is convenient for the staff to repair the device and avoid affecting the work progress when problems occur in the device.

[0027] Working principle:

[0028] When in use, an object is placed on the bottom plate 1, and the device determines the position of the object through robot vision. The rotating column 2 drives the connecting plate 3 to rotate, and the connecting plate 3 drives the telescopic rod 4 to rotate. The telescopic rod 4 drives the positioning assembly 5 and the clamping assembly 6 to rotate, and the clamping assembly 6 rotates to the top of the object. The telescopic rod 4 drives the positioning assembly 5 and the clamping assembly 6 to move downward to the object. The motor 52 in the positioning assembly 5 is started, and the motor 52 drives the threaded rod 53 to rotate. Since the two sides of the threaded rod 53 are respectively provided with a forward thread 54 and a reverse thread 55, the two threads are in opposite directions, and the threaded rod 53 drives the sliding blocks 61 on both sides to approach each other, and the sliding block 61 moves along the housing 51 toward the object. The sliding block 61 drives the movable block 62 to move, and the movable block 62 drives the clamping assembly 63 to move. The clamping assembly 63 moves to the object, and the clamping plate 631 in the clamping assembly 63 contacts the object. The two clamping plates 631 clamp the two sides of the object, and the rubber plate 632 enhances the friction between the clamping plate 631 and the object to prevent the object from slipping.

[0029] When the clamping plate 631 clamps an object, the anti-slip plate 635 is driven by the object to move inward of the clamping plate 631, and the buffer plate 636 reduces the impact of the anti-slip plate 635 on the object. The anti-slip plate 635 moves inward to compress the rebound spring 634, and the rebound spring 634 applies pressure to the pressure sensor 633. If the object slips and moves under the anti-slip plate 635, the rebound spring 634, under the influence of its own elastic force, drives the anti-slip plate 635 to move outward of the clamping plate 631, and the rebound spring 634 no longer applies pressure to the pressure sensor 633. The pressure on the pressure sensor 633 is reduced, and an alarm can be issued in time to remind the staff.

[0030] Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field and related fields without creative work should fall within the scope of protection of the present invention. Structures, devices and operating methods not specifically described and explained in the present invention shall be implemented according to conventional means in the field unless otherwise specified and limited.

Claims

1. A positioning and gripping device based on robot vision, characterized in that: include: Bottom plate (1); A rotating column (2), the bottom of the rotating column (2) being fixedly connected to the top of the bottom plate (1); A connecting plate (3), the bottom of the connecting plate (3) being fixedly connected to the top of the rotating column (2); A telescopic rod (4), the top of the telescopic rod (4) being fixedly connected to a side of the connecting plate (3) away from the rotating column (2); A clamping assembly (6), the clamping assembly (6) is located directly below the telescopic rod (4), and the clamping assembly (6) is used to clamp a workpiece; A positioning assembly (5), wherein the top of the positioning assembly (5) is fixedly connected to the bottom of the telescopic rod (4), the inner side of the positioning assembly (5) is slidably connected to the outer side of the clamping assembly (6), and the positioning assembly (5) is used to drive the clamping assembly (6) to move.

2. A positioning and gripping device based on robot vision according to claim 1, characterized in that: The positioning assembly (5) comprises a shell (51), the top of the shell (51) is fixedly connected to the bottom of the telescopic rod (4), a motor (52) is fixedly mounted on the outer side of the shell (51), an output end of the motor (52) passes through the shell (51) and is fixedly connected to a threaded rod (53), and two ends of the threaded rod (53) are rotatably connected to the inner side of the shell (51).

3. The positioning and gripping device based on robot vision according to claim 2, characterized in that: A side of the threaded rod (53) close to the motor (52) is fixedly connected with a forward thread (54), and a side of the threaded rod (53) away from the forward thread (54) is fixedly connected with a reverse thread (55).

4. The positioning and gripping device based on robot vision according to claim 2, characterized in that: The clamping assembly (6) comprises a sliding block (61), the inner side of the sliding block (61) is threadedly connected to the two sides of the threaded rod (53), the outer side of the sliding block (61) is slidably connected to the inner side of the housing (51), the bottom of the sliding block (61) is fixedly connected to a movable block (62), and the outer side of the movable block (62) is fixedly connected to a clamping assembly (63).

5. The positioning and gripping device based on robot vision according to claim 4, characterized in that: The clamping assembly (63) comprises a clamping plate (631), the outer side of the clamping plate (631) is fixedly connected to the outer side of the movable block (62), and a rubber plate (632) is fixedly connected to the side of the clamping plate (631) away from the movable block (62).

6. The positioning and gripping device based on robot vision according to claim 5, characterized in that: A pressure sensor (633) is fixedly installed on the inner side of the clamping plate (631), and a rebound spring (634) is fixedly connected to the side of the pressure sensor (633) away from the clamping plate (631), and an anti-slip plate (635) is fixedly connected to the end of the rebound spring (634) away from the pressure sensor (633), and the outer side of the anti-slip plate (635) is slidably connected to the inner side of the clamping plate (631), and a buffer plate (636) is fixedly connected to the side of the anti-slip plate (635) away from the rebound spring (634).

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