Workpiece grabbing laser positioning device
By designing a workpiece grab laser positioning device, the robot arm is used to achieve accurate positioning of the robot arm and precise grasping of the workpiece, the problems of complex structure, high cost and collision vibration in the existing technology are solved, and efficient and accurate workpiece grabbing operation is achieved.
Patent Information
- Application Number
- CN202421965921.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-14
- Publication Date
- 2025-05-27
- Estimated Expiration
- 2034-08-14
AI Technical Summary
In the prior art, the visual positioning and grasping technology has a complex structure and is relatively costly. It is easy to collide with the limiting structure when controlling the movement of the robot arm, resulting in periodic collision of the positioning device during operation.
A workpiece grabbing laser positioning device is designed, which is fixedly connected to the moving grasping robot arm through a movable connecting member, and drives the light shielding strip to slide in the slide rail. When the light-transmissive hole of the bar coincides with the light-transmissive hole of the rail, the receiving head receives the photoelectric signal of the transmitting head, realizes the precise positioning of the robot arm, and guides the guide to ensure that the workpiece can be accurately grasped when the robot arm moves down.
The precise positioning of the robotic arm and the precise grasping of the workpiece are achieved, which avoids collision and vibration between the robotic arm and the limit structure, and reduces the cost of the device and structural complexity.
Smart Images
Figure CN222904108U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of laser positioning devices, in particular to a workpiece grabbing laser positioning device. Background Art
[0002] With the development of science and technology, many robotic arms can now realize the function of automatic grasping, which can further improve the level of automation in production and processing. The more common positioning and grasping technology is robot visual positioning and grasping technology, which is mainly based on the cross-integration of computer vision and robot control. Its basic principle is to obtain the image information of the target object through image acquisition devices such as cameras, and then use image processing algorithms and machine learning models to process and analyze the image to identify the characteristics and position of the object. Finally, the recognition results are transmitted to the robot control system to achieve accurate positioning and grasping operations.
[0003] Although the above-mentioned positioning and grasping technology can accurately position, its structure is complex and requires a complex software system, resulting in a relatively high cost of use. Therefore, there are also certain low-cost positioning and grasping devices, which usually use a limit structure to control the movement stroke of the robot arm, so that the robot arm can move according to a pre-designed trajectory. However, this method inevitably has the problem of collision between the robot arm and the limit structure, causing the entire positioning device to periodically produce collision vibrations during operation, which can easily cause adverse effects on the use of the device and the structure of the device. Therefore, in response to the above problems, a workpiece grasping laser positioning device is proposed. Utility Model Content
[0004] The technical problem to be solved by the utility model is to provide a workpiece grasping laser positioning device, in which a movable connecting part is fixedly connected to a moving grasping mechanical arm, and when the mechanical arm moves, the movable connecting part will be driven to move, and the shading strip will be driven to slide in the slide rail, and when the light-transmitting hole of the strip coincides with the light-transmitting hole of the rail, the receiving head can completely receive the photoelectric signal of the transmitting head, indicating that the mechanical arm has reached the specified position, and the mechanical arm stops translation and moves up and down instead to grasp the workpiece, and since the speed of the signal light is extremely fast, there is almost no delay, and the downward-moving mechanical arm can accurately grasp the workpiece through the guiding effect of the guide part, avoiding deviation during the downward movement, and solving the technical problems in the prior art that the visual positioning grasping technology has a complex structure and high cost, and the method of using a limit structure to control the movement stroke of the mechanical arm is prone to collision and vibration, which has an adverse effect on the use of the device and the structure of the device.
[0005] The technical solution adopted by the embodiment of the present application to solve the technical problem is:
[0006] A workpiece grasping laser positioning device comprises a base, on which a support frame and a photoelectric sensing element are mounted, the support frame comprises a triangular support and a slide rail, the photoelectric sensing element comprises a mounting rod, on which a transmitting head and a receiving head are mounted, a shading strip which is slidably arranged in the slide rail and has a light-transmitting hole thereon, a movable connecting piece which is mounted on an external mechanical arm for grasping workpieces and is movably connected to the end of the shading strip, and a guide piece which is used to guide the mechanical arm downward, wherein a light-transmitting hole is provided in the middle of the slide rail, and the shading strip and the slide rail are located between the transmitting head and the receiving head.
[0007] Through the above-mentioned structural form, since the movable connecting part is fixedly connected to the moving grasping robot arm, when the robot arm moves, the shading strip will be driven to slide in the slide rail through the movable connecting part. When the light-transmitting hole of the strip coincides with the light-transmitting hole of the rail, the receiving head can completely receive the photoelectric signal of the transmitting head, indicating that the robot arm has reached the specified position. At this time, the robot arm stops translation and moves up and down to grasp the workpiece. Since the speed of the signal light is extremely fast, there is almost no delay. The downward-moving robot arm can accurately grasp the workpiece through the guiding effect of the guide member to avoid displacement during the downward movement.
[0008] In a possible implementation, a group of photoelectric sensors working in cooperation are installed in the transmitting head and the receiving head, wherein the transmitter is installed in the transmitting head and the receiver is installed in the receiving head.
[0009] Through the above-mentioned structural form, the transmitter in the transmitting head will continuously transmit photoelectric signals to the receiver in the receiving head. Under normal circumstances, the photoelectric signals will be blocked by the shading strip. When the robotic arm moves to the specified position, the light-transmitting hole of the strip coincides with the light-transmitting hole of the track, and the receiving head can receive the photoelectric signal of the transmitting head, indicating that it has reached the specified position. At this time, the robotic arm stops translating and plays a positioning role.
[0010] In a possible implementation, the movable connecting member includes a connecting plate installed on the grasping robot arm, a sliding groove is provided on the connecting plate, the end of the shading strip is fixedly connected with a rotating joint, and sliding shafts sliding in the sliding groove are fixedly provided on both sides of the rotating joint.
[0011] With the above-mentioned structure, since the shading strip and the connecting plate are rotatably connected via a rotating joint, and the rotating joint is slidingly arranged in the connecting plate, the connecting plate will only apply horizontal force to the shading strip and will not hinder the up and down movement of the robotic arm.
[0012] In a possible implementation, the guide member includes a guide rod and a bracket, wherein the guide rod is fixedly connected to the bottom end of the connecting plate, and a guide cylinder is fixedly provided on the bracket, and a guide hole is opened in the guide cylinder.
[0013] Through the above-mentioned structural form, when the robotic arm moves downward, it will drive the guide rod to move downward so that it can be inserted into the guide cylinder. Under the combined action of the guide cylinder and the guide rod, the robotic arm can only move straight up and down without deviation, which can facilitate the robotic arm to accurately grasp the workpiece when moving downward.
[0014] In a possible implementation, the guide hole is a through hole with a gradually decreasing aperture from top to bottom, and the minimum aperture at the lower portion is equal to the rod diameter of the guide rod.
[0015] With the above-mentioned structural form, the funnel-shaped hole can be used to facilitate the insertion of the guide rod, thereby avoiding the situation where the guide rod cannot be inserted into the guide hole due to a small offset.
[0016] In a possible implementation, a pointed tip is formed at the bottom end of the guide rod, and a circular thin plate is welded to the top end thereof, and the circular thin plate is bolted to the connecting plate.
[0017] Through the above-mentioned structural form, the guide rod can be inserted into the guide hole in a pointed structure, and the guide rod is detachably connected to the connecting plate, so it can be easily replaced or straightened.
[0018] In a possible implementation, a centrally arranged notch is provided at the rear ends of the transmitting head and the receiving head, a screw is fixedly connected in the notch, and a fastening nut is connected to the external thread of the screw.
[0019] Through the above-mentioned structural form, when the fastening nut is loosened, the transmitting head and the receiving head can slide up and down along the mounting rod to adjust the position or turn, which is convenient for replacing or repairing the photoelectric sensor therein, as well as subsequent installation adjustment work.
[0020] In summary, the utility model includes the following beneficial technical effects:
[0021] Since the movable connecting piece is fixedly connected to the moving grabbing robot arm, when the robot arm moves, the movable connecting piece will drive the shading strip to slide in the slide rail. When the light-transmitting hole of the strip coincides with the light-transmitting hole of the rail, the receiving head can completely receive the photoelectric signal of the transmitting head, indicating that the robot arm has reached the specified position. At this time, the robot arm stops moving horizontally and moves up and down to grab the workpiece. Since the speed of the signal light is extremely fast, there is almost no delay. The downward-moving robot arm can accurately grab the workpiece through the guidance of the guide member to avoid deviation during the downward movement. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:
[0023] Figure 1 It is a schematic diagram of the overall structure of the utility model;
[0024] Figure 2 This is a schematic diagram of the working state of the photoelectric sensing structure of the utility model;
[0025] Figure 3 It is a partial structural schematic diagram of the utility model;
[0026] Figure 4 It is a schematic diagram of the adjustment structure of the photoelectric sensor of the utility model.
[0027] In the figure: 1. base; 2. support frame; 21. triangular support; 22. slide rail; 221. rail light hole; 3. shading strip; 31. strip light hole; 4. photoelectric sensor; 41. mounting rod; 42. transmitter head; 43. receiving head; 401. notch; 402. screw rod; 403. fastening nut; 5. movable connector; 51. connecting plate; 52. slide groove; 53. rotating joint; 54. sliding shaft; 6. guide member; 61. guide rod; 62. bracket; 63. guide cylinder; 64. guide hole. DETAILED DESCRIPTION
[0028] The technical solution in the embodiment of the present application is to solve the problems of the above-mentioned background technology, and the overall idea is as follows:
[0029] like Figure 1 - Figure 3 As shown, a workpiece grasping laser positioning device provided in this embodiment includes a base 1, on which a support frame 2 and a photoelectric sensing element 4 are installed, the support frame 2 includes a triangular support 21 and a slide rail 22, the photoelectric sensing element 4 includes a mounting rod 41, on which a transmitting head 42 and a receiving head 43 are installed, a shading strip 3, which is slidably arranged in the slide rail 22, a movable connecting member 5, which is installed on an external mechanical arm for grasping the workpiece and is movably connected to the end of the shading strip 3, and a guide member 6, which is used to guide the mechanical arm downward. Through the above-mentioned structural form, since the movable connecting member 5 is fixedly connected to the moving grasping mechanical arm, when the mechanical arm moves, the shading strip 3 will be driven to slide in the slide rail 22 through the movable connecting member 5, thereby providing the necessary structural basis for achieving the positioning effect, and the downward-moving mechanical arm can accurately grasp the workpiece through the guiding effect of the guide member 6, thereby avoiding displacement during the downward movement.
[0030] A strip light-transmitting hole 31 is provided on the shading strip 3, a rail light-transmitting hole 221 is provided in the middle of the slide rail 22, and both the shading strip 3 and the slide rail 22 are located between the transmitting head 42 and the receiving head 43. When the strip light-transmitting hole 31 coincides with the rail light-transmitting hole 221, the receiving head 43 can completely receive the photoelectric signal of the transmitting head 42, indicating that the robot arm has reached the specified position. At this time, the robot arm stops translating and moves up and down instead to grasp the workpiece, and since the speed of the signal light is extremely fast, there is almost no delay.
[0031] Among them, a group of photoelectric sensors working together are installed in the transmitting head 42 and the receiving head 43, wherein the transmitter is installed in the transmitting head 42, and the receiver is installed in the receiving head 43. Through the above-mentioned structural form, the transmitter in the transmitting head 42 will continuously transmit photoelectric signals to the receiver in the receiving head 43. Under normal conditions, the photoelectric signals will be blocked by the shading strip 3. When the robotic arm moves to the specified position, the strip light-transmitting hole 31 coincides with the rail light-transmitting hole 221, and the receiving head 43 can receive the photoelectric signal of the transmitting head 42, indicating that the specified position has been reached. At this time, the robotic arm stops translating and plays a positioning role.
[0032] like Figure 3 As shown, the movable connecting member 5 includes a connecting plate 51 installed on the grasping robot arm, a slide groove 52 is opened on the connecting plate 51, a rotating joint 53 is fixedly connected to the end of the shading strip 3, and sliding shafts 54 sliding in the slide groove 52 are fixedly arranged on both sides of the rotating joint 53. Through the above-mentioned structural form, since the shading strip 3 and the connecting plate 51 are rotatably connected through the rotating joint 53, and the rotating joint 53 is slidably arranged in the connecting plate 51, the connecting plate 51 will only apply horizontal force to the shading strip 3, and will not hinder the up and down movement of the robot arm.
[0033] like Figure 3 As shown, the guide member 6 includes a guide rod 61 and a bracket 62, wherein the guide rod 61 is fixedly connected to the bottom end of the connecting plate 51, and a guide cylinder 63 is fixedly provided on the bracket 62, and a guide hole 64 is opened in the guide cylinder 63. Through the above-mentioned structural form, when the robot arm moves downward, it will drive the guide rod 61 to move downward, so that it is inserted into the guide cylinder 63. Under the combined action of the guide cylinder 63 and the guide rod 61, the robot arm can only go straight up and down without deviation, which can facilitate the robot arm to accurately grasp the workpiece when moving downward.
[0034] Among them, the guide hole 64 is a through hole with a gradually decreasing aperture from top to bottom, and the minimum aperture at the lower part is equal to the rod diameter of the guide rod 61. Through the above-mentioned structural form, the funnel-shaped hole can facilitate the insertion of the guide rod 61, avoiding the situation where the guide rod 61 cannot be inserted into the guide hole 64 due to a small offset.
[0035] In addition, a pointed tip is formed at the bottom end of the guide rod 61, and a circular thin plate is welded to the top end thereof, and the circular thin plate is bolted to the connecting plate 51. Through the above-mentioned structural form, the guide rod 61 can be conveniently inserted into the guide hole 64 in the form of a pointed tip, and the guide rod 61 is detachably connected to the connecting plate 51, so that it can be easily replaced or straightened.
[0036] like Figure 4 As shown, the rear ends of the transmitting head 42 and the receiving head 43 are each provided with a centrally arranged slot 401, in which a screw rod 402 is fixedly connected, and a fastening nut 403 is externally threadedly connected to the screw rod 402. Through the above-mentioned structural form, when the fastening nut 403 is loosened, the transmitting head 42 and the receiving head 43 can slide up and down along the mounting rod 41 to adjust the position or turn, so as to facilitate the replacement or maintenance of the photoelectric sensor therein, as well as the subsequent installation adjustment work.
[0037] The use principle and use process of this utility model:
[0038] Since the movable connecting piece 5 is fixedly connected to the moving grabbing robot arm, when the robot arm moves, the shading strip 3 will be driven to slide in the slide rail 22 through the movable connecting piece 5. When the strip light-transmitting hole 31 coincides with the rail light-transmitting hole 221, the receiving head 43 can completely receive the photoelectric signal of the transmitting head 42, indicating that the robot arm has reached the specified position. At this time, the robot arm stops translating and moves up and down to achieve the grabbing of the workpiece. Since the speed of the signal light is extremely fast, there is almost no delay.
[0039] The downward-moving robotic arm can accurately grasp the workpiece through the guiding effect of the guide member 6, avoiding deviation during the downward movement. Specifically, when the robotic arm moves downward, it will drive the guide rod 61 to move downward so that it can be inserted into the guide cylinder 63. Under the combined action of the guide cylinder 63 and the guide rod 61, the robotic arm can only move straight up and down without deviation, which can facilitate the robotic arm to accurately grasp the workpiece when moving downward.
[0040] Finally, it should be noted that: Obviously, the above embodiments are only examples for clearly explaining the present invention, and are not intended to limit the implementation methods. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from this are still within the scope of protection of the present invention.
Claims
1. A workpiece grasping laser positioning device, characterized in that: include: A base (1) is provided with a support frame (2) and a photoelectric sensing element (4), wherein the support frame (2) comprises a triangular support (21) and a slide rail (22), and the photoelectric sensing element (4) comprises a mounting rod (41), and a transmitting head (42) and a receiving head (43) are mounted on the mounting rod (41); A light shielding strip (3) is slidably disposed in the slide rail (22) and is provided with a light-transmitting hole (31); A movable connecting member (5), which is mounted on an external mechanical arm for grabbing workpieces and is movably connected to the end of the shading strip (3); A guide member (6) for guiding the robot arm downward; A rail light-transmitting hole (221) is provided in the middle of the slide rail (22), and the light-shielding strip (3) and the slide rail (22) are both located between the transmitting head (42) and the receiving head (43).
2. A workpiece grasping laser positioning device according to claim 1, characterized in that: A group of photoelectric sensors working in coordination are installed in the transmitting head (42) and the receiving head (43), wherein the transmitter is installed in the transmitting head (42) and the receiver is installed in the receiving head (43).
3. A workpiece grasping laser positioning device according to claim 1, characterized in that: The movable connecting member (5) comprises a connecting plate (51) mounted on a grabbing mechanical arm, a slide groove (52) being provided on the connecting plate (51), a rotating joint (53) being fixedly connected to the end of the shading strip (3), and sliding shafts (54) sliding in the slide groove (52) being fixedly provided on both sides of the rotating joint (53).
4. A workpiece grasping laser positioning device according to claim 1, characterized in that: The guide member (6) comprises a guide rod (61) and a bracket (62), wherein the guide rod (61) is fixedly connected to the bottom end of the connecting plate (51), and a guide cylinder (63) is fixedly arranged on the bracket (62), and a guide hole (64) is opened in the guide cylinder (63).
5. A workpiece grasping laser positioning device according to claim 4, characterized in that: The guide hole (64) is a through hole with a gradually decreasing aperture from top to bottom, and the minimum aperture at the bottom is equal to the rod diameter of the guide rod (61).
6. A workpiece grasping laser positioning device according to claim 4, characterized in that: The bottom end of the guide rod (61) is processed to form a pointed tip, and a circular thin plate is welded to the top end thereof, and the circular thin plate is bolted to the connecting plate (51).
7. A workpiece grasping laser positioning device according to claim 1, characterized in that: The rear ends of the transmitting head (42) and the receiving head (43) are both provided with a centrally arranged notch (401), a screw rod (402) is fixedly connected in the notch (401), and a fastening nut (403) is externally threadedly connected to the screw rod (402).