Visual system robot grabbing load detection mechanism

Abstract

The utility model relates to the technical field of robot load detection, in particular to a visual system robot grabbing load detection mechanism which comprises a base and a slide way arranged on the base and further comprises an electromagnetic suction plate fixedly arranged at the inner bottom of the slide way. The flat supporting plate is arranged in the slide way in a sliding and sleeved mode, the stand column is fixed to the flat supporting plate, and the grabbing ring is fixed to the top of the stand column. According to the utility model, through the cooperative use of the slideway, the electromagnetic suction plate, the connecting part and other structures, the electromagnetic suction plate can be started when the detected weight change interval is within the weight range of a balancing weight, and the magnitude of current flowing through the electromagnetic suction plate is controlled on the premise of keeping the voltage unchanged; the electromagnetic attraction force is accurately adjusted from 0 to the weight of one balancing weight, and therefore the upper limit of the load grabbed by the robot can be accurately and efficiently detected on the premise of avoiding electromagnetic interference on operation of the robot.

Description

Technical Field

[0001] The utility model relates to the technical field of robot load detection, in particular to a visual system robot grabbing load detection mechanism. Background Art

[0002] Robotic arms equipped with vision systems can accurately grasp designated items during sorting, improving the accuracy of item grasping. However, due to the large differences in the weight of the items grasped during sorting, robotic arms based on vision systems need to undergo a grasping load test before leaving the factory to determine whether the robotic arm's grasping load limit meets factory requirements.

[0003] When a robotic arm grasps and detects a load based on a vision system, the load to be grasped is generally increased in large spans. The upper limit of the load of the maximum weight is first determined, and then smaller weights are gradually used. The weight specifications are reduced multiple times to finally obtain a more accurate upper limit of the robot's grasping load. However, in the above operations, weights need to be added or removed multiple times, making the detection operation process more cumbersome and the detection efficiency relatively low. Utility Model Content

[0004] In view of this, the purpose of the present invention is to propose a visual system robot grasping load detection mechanism to solve the problems of relatively complicated detection operation process and relatively low detection efficiency.

[0005] Based on the above objectives, the present invention provides a visual system robot grasping load detection mechanism, comprising a base and a slide provided on the base, the visual system robot grasping load detection mechanism further comprising:

[0006] An electromagnetic suction plate is fixedly arranged on the bottom of the slideway.

[0007] A flat supporting plate is slidably sleeved in the slideway.

[0008] A column fixed on the flat supporting plate.

[0009] A grabbing ring is fixed to the top of the column, and the grabbing ring is used to provide a traction point for the robot to grab.

[0010] A plurality of counterweight blocks are sleeved on the outside of the column.

[0011] A connecting portion for connecting two counterweight blocks.

[0012] Preferably, the connecting portion includes:

[0013] The strip grooves are respectively arranged at the top and bottom of the counterweight block, and a limiting sliding groove is arranged between the two strip grooves.

[0014] A mounting groove is provided on the counterweight block, and a through hole is provided between the mounting groove and the limiting sliding groove.

[0015] A sliding block is slidably sleeved in the limiting sliding groove.

[0016] An insertion rod is transversely fixed on the sliding block, and one end of the insertion rod passes through the through hole and is inserted and connected with the insertion hole provided on the installation groove.

[0017] A fixing member is used to fix the slider.

[0018] Preferably, the column is inserted into the installation slot, and the insertion rod is used to limit the lateral freedom of the column in the installation slot.

[0019] Preferably, the two strip grooves are relatively distributed on the counterweight block, and the length and width of the strip grooves are smaller than the length and width of the limiting sliding grooves.

[0020] Preferably, one end of the mounting groove passes through the boundary of the counterweight block along the radial direction of the counterweight block.

[0021] Preferably, the fixing member comprises:

[0022] A through rod is vertically inserted and connected with the vertical hole provided on the sliding block.

[0023] A retaining ring is fixed to the bottom of the penetrating rod.

[0024] A protrusion fixed to the bottom of the retaining ring.

[0025] A top plate is fixed to the top of the through rod, and limiting holes are provided on the top of the top plate and the flat supporting plate.

[0026] Preferably, the limiting hole matches the protrusion, and the retaining ring is slidably sleeved in the strip groove.

[0027] Preferably, the inner diameter of the vertical hole is smaller than the outer diameter of the retaining ring, and the inner diameter of the vertical hole is also smaller than the outer diameter of the top plate.

[0028] The beneficial effects of the present invention are as follows: the present invention cooperates with the slide, the electromagnetic suction plate and the connecting part and other structures, and can start the electromagnetic suction plate when it is detected that the weight change interval is within the weight range of a counterweight block. Under the premise of keeping the voltage unchanged, the current flowing through the electromagnetic suction plate is controlled to achieve accurate adjustment of the electromagnetic suction force from "0" to the weight of a counterweight block. In this way, the upper limit of the robot's grabbing load can be accurately and efficiently detected under the premise of avoiding electromagnetic interference with the operation of the robot, and the fixing or removal of a counterweight block can be completed by plugging and unplugging the fixing parts and pushing the insertion rod horizontally, thereby improving the efficiency of adding or removing the counterweight block and improving the installation firmness of the counterweight block, avoiding the counterweight block falling when the upper limit of the robot's grabbing load is detected, so that the counterweight block can be stably located on the flat support plate and stably fall into the slide, avoiding the problem of the counterweight block on the column being scattered or the column tipping over, and improving the safety of the detection operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only for the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0030] Figure 1 A three-dimensional diagram of the present invention Figure 1 ;

[0031] Figure 2 A three-dimensional diagram of the present invention Figure 2 ;

[0032] Figure 3 A three-dimensional diagram of the present invention Figure 3 ;

[0033] Figure 4 A three-dimensional diagram of the present invention Figure 4 .

[0034] The following are marked in the figure:

[0035] 1. Base; 2. Slide; 3. Electromagnetic suction plate; 4. Flat support plate; 5. Column; 6. Grabbing ring; 7. Counterweight; 8. Connecting part; 81. Strip groove; 82. Limiting slide groove; 83. Slider; 84. Insert rod; 85. Through hole; 86. Insert hole; 87. Fixing part; 871. Vertical hole; 872. Through rod; 873. Retaining ring; 874. Bump; 875. Top plate; 876. Limiting hole; 88. Mounting slot. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments.

[0037] It should be noted that, unless otherwise defined, the technical or scientific terms used in this utility model should have the usual meanings understood by people with ordinary skills in the field to which this utility model belongs. The "first", "second" and similar words used in this utility model do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative position relationships. When the absolute position of the object being described changes, the relative position relationship may also change accordingly.

[0038] like Figures 1 to 4 As shown, a visual system robot grasping load detection mechanism includes a base 1 and a slide 2 provided on the base 1. The visual system robot grasping load detection mechanism also includes:

[0039] An electromagnetic suction plate 3 is fixedly arranged on the bottom of the slideway 2 .

[0040] A flat support plate 4 is slidably sleeved in the slideway 2 .

[0041] The column 5 is fixed on the flat supporting plate 4.

[0042] A grabbing ring 6 is fixed to the top of the column 5 and is used to provide a traction point for the robot to grab.

[0043] A plurality of counterweight blocks 7 are sleeved on the outside of the column 5.

[0044] A connecting portion 8 is used to connect two counterweights 7 .

[0045] In the detection, first place the maximum grabbing load designed by the robot on the flat supporting plate 4, then control the robot to grab, if it can be grabbed smoothly, then increase the number of weight blocks 7 one by one until the robot is difficult to grab the flat supporting plate 4 and the weight blocks 7 stacked thereon by grabbing the grabbing ring 6, then remove one weight block 7, control the robot to lift the flat supporting plate 4 and all the weight blocks 7 loaded thereon to a certain height by grabbing the grabbing ring 6, then start the electromagnetic suction plate 3, gradually increase the current flowing through the electromagnetic suction plate 3, the magnetic attraction force generated by the electromagnetic suction plate 3 will also gradually increase, until the flat supporting plate 4 falls under the action of the electromagnetic suction force. In this way, the upper limit of the robot's grabbing load can be accurately and efficiently detected in the weight range of one weight block 7 by increasing the electromagnetic suction force. If the robot initially cannot grab the maximum load designed, decrease the number of weight blocks 7 one by one and repeat the above operation. The magnetic force generated by the electromagnetic suction plate 3 can also accurately and efficiently detect the grabbing load of the robot, so as to efficiently screen out qualified and unqualified robots by the operator.

[0046] As shown in Figures 2 to 4 The connecting part 8 includes:

[0047] The strip-shaped grooves 81 are respectively arranged at the top and bottom of the weight block 7, and the limiting sliding groove 82 is arranged between the two strip-shaped grooves 81.

[0048] The mounting groove 88 is arranged on the weight block 7, and the through hole 85 is arranged between the mounting groove 88 and the limiting sliding groove 82.

[0049] The sliding block 83 is sleeved in the limiting sliding groove 82.

[0050] The insertion rod 84 is transversely fixed on the sliding block 83, one end of the insertion rod 84 penetrates through the through hole 85 and is connected with the insertion hole 86 arranged on the mounting groove 88.

[0051] The fixing part 87 is used for fixing the sliding block 83.

[0052] The column 5 is inserted into the installation slot 88, and the insertion rod 84 is used to limit the lateral freedom of the column 5 in the installation slot 88. This design can control the freedom of the slider 83 through the fixing piece 87. Before installation, the slider 83 can be slid to the end of the limiting slide 82 away from the installation slot 88. At this time, the insertion rod 84 is completely retracted into the through-hole 85 and the limiting slide 82, so that the installation slot 88 is open. Then, the opening of the installation slot 88 is aligned with the column 5 and sleeved on the outside of the column 5 until the column 5 is located in the installation slot 88 near the center of the counterweight block 7. Then, the slider 83 is pushed closer to the column 5 until the slider 83 slides to the end of the limiting slide 82 near the column 5. At this time, one end of the insertion rod 84 is inserted into the insertion hole 86, so that the counterweight block 7 is sleeved on the outside of the column 5 and the horizontal freedom of the column 5 is restricted. The installation of the counterweight block 7 can be completed, thereby improving the efficiency of increasing and decreasing the number of counterweight blocks 7.

[0053] The two strip grooves 81 are relatively distributed on the counterweight block 7, and the length and width of the strip groove 81 are smaller than the length and width of the limiting slide groove 82. Such a design allows the slider 83 to only slide horizontally and linearly in the limiting slide groove 82, restricting the freedom of the slider 83 in other directions, so that one end of the insertion rod 84 can be accurately inserted into the socket 86 every time.

[0054] One end of the mounting groove 88 passes through the boundary of the counterweight block 7 along the radial direction of the counterweight block 7. This design makes it convenient to push a counterweight block 7 horizontally onto the flat support plate 4, or to push it to the top of the counterweight blocks 7 stacked on the flat support plate 4, and also makes it convenient to confine the column 5 within the mounting groove 88.

[0055] like Figure 3 and Figure 4 As shown, the fixing member 87 includes:

[0056] A through rod 872 is vertically inserted and connected to the vertical hole 871 provided on the slider 83.

[0057] A retaining ring 873 is fixed to the bottom of the penetrating rod 872 .

[0058] The protrusion 874 is fixed to the bottom of the retaining ring 873.

[0059] A top plate 875 is fixed to the top of the through rod 872 , and a limiting hole 876 is provided on the top of the top plate 875 and the flat support plate 4 . The limiting hole 876 on the flat support plate 4 corresponds to one end of the strip groove 81 close to the mounting groove 88 .

[0060] The limiting hole 876 matches the protrusion 874, and the retaining ring 873 is slidably mounted in the strip groove 81. With such a design, after the counterweight block 7 is mounted on the outside of the column 5, the slider 83 is pushed to the end of the limiting slide 82 close to the column 5, so that the protrusion 874 can be aligned with the limiting hole 876 on the flat support plate 4, or when two counterweight blocks 7 are stacked up and down, the protrusion on the higher counterweight block 7 is inserted into the limiting hole 876 on the lower counterweight block 7, completing the limiting connection between the two counterweight blocks 7, or the limiting connection between the counterweight block 7 and the flat support plate 4, and cooperating with the column 5 to be restricted in the mounting groove 88, the freedom of the counterweight block 7 in the circumferential direction is constrained, thereby avoiding the counterweight block 7 from shaking or moving horizontally during the load grabbing detection process, which affects the accuracy of the load upper limit detection.

[0061] The inner diameter of the vertical hole 871 is smaller than the outer diameter of the retaining ring 873, and the inner diameter of the vertical hole 871 is also smaller than the outer diameter of the top plate 875. This design allows the penetrating rod 872 to slide up and down a certain distance in the vertical hole 871, while preventing the penetrating rod 872 from completely sliding out of the vertical hole 871.

[0062] Working principle: During the inspection, first place the maximum grabbing load designed for the robot on the flat pallet 4, and then control the robot to grab it. If it can be grabbed smoothly, increase the number of counterweights 7 one by one until the robot has difficulty in grabbing the grab ring 6 to grab the flat pallet 4 and the several counterweights 7 stacked thereon. Then, after removing one counterweight 7, control the robot to lift the flat pallet 4 and all the counterweights 7 loaded thereon to a certain height by grabbing the grab ring 6, and then start the electromagnetic suction plate 3, and gradually increase the current flowing through the electromagnetic suction plate 3 from 0A. The magnetic attraction force generated by the electromagnetic suction plate 3 will also gradually increase until the flat pallet 4 falls under the action of the electromagnetic attraction force. In this way, the upper limit of the robot's grabbing load can be accurately and efficiently detected within the weight range of a counterweight 7 by increasing the electromagnetic attraction force. If the robot fails to grab the designed maximum load initially, the number of counterweights 7 is gradually reduced one by one, and the above operation is repeated. The magnetic force generated by the electromagnetic suction plate 3 can also accurately and efficiently detect the robot's grabbing load, so that the operator can efficiently screen out qualified and unqualified robots. When adding or reducing the number of counterweight blocks 7, the slider 83 can be pushed to the end of the limiting slide 82 away from the installation groove 88, so that the opening of the installation groove 88 is aligned with the column 5, and then the counterweight block 7 can be pushed horizontally to make the column 5 located in the installation groove 88, so that the column 5 is close to the center of the counterweight block 7, and then Push the slider 83 toward the end of the limiting slide 82 close to the mounting groove 88. During this process, the insertion rod 84 passes through the through hole 85 and is inserted into the insertion hole 86, limiting the column 5 in the horizontal direction within the mounting groove 88, and the protrusion 874 will be inserted into the limiting hole 876 on the flat support plate 4 or the lower counterweight block 7, so as to constrain the circumferential freedom of the counterweight block 7, thereby preventing the counterweight block 7 from shaking or displacing when the robot grabs the load for detection, thereby affecting the accuracy of the detection result.

[0063] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present invention (including the claims) is limited to these examples. Within the scope of the present invention, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity.

[0064] The present invention is intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of protection of the present invention.

Claims

1. A visual system robot grasping load detection mechanism, comprising a base (1) and a slideway (2) arranged on the base (1), characterized in that: The visual system robot grabbing load detection mechanism also includes: an electromagnetic suction plate (3) fixedly arranged on the inner bottom of the slideway (2); a flat support plate (4) slidably sleeved in the slideway (2); A column (5) fixed on the flat support plate (4); A grabbing ring (6) fixed to the top of the column (5), the grabbing ring (6) is used to provide a traction point for the robot to grab; A plurality of counterweight blocks (7) sleeved on the outside of the column (5); A connecting portion (8) for connecting the two counterweight blocks (7).

2. The visual system robot grabbing load detection mechanism according to claim 1, characterized in that: The connecting portion (8) comprises: Strip grooves (81) are respectively provided at the top and bottom of the counterweight block (7), and a limiting sliding groove (82) is provided between the two strip grooves (81); A mounting groove (88) is provided on the counterweight block (7), and a through hole (85) is provided between the mounting groove (88) and the limiting sliding groove (82); A slider (83) slidably sleeved in the limiting sliding groove (82); An insertion rod (84) is transversely fixed on the slider (83), one end of the insertion rod (84) passes through the through hole (85) and is connected to the insertion hole (86) provided on the installation groove (88); A fixing member (87) for fixing the slider (83).

3. The visual system robot grabbing load detection mechanism according to claim 2, characterized in that: The column (5) is inserted into the installation slot (88), and the insertion rod (84) is used to limit the lateral freedom of the column (5) in the installation slot (88).

4. The visual system robot grabbing load detection mechanism according to claim 3, characterized in that: The two strip-shaped grooves (81) are relatively distributed on the counterweight block (7), and the length and width of the strip-shaped grooves (81) are smaller than the length and width of the limiting sliding groove (82).

5. The visual system robot grabbing load detection mechanism according to claim 4, characterized in that: One end of the mounting groove (88) passes through the boundary of the counterweight block (7) along the radial direction of the counterweight block (7).

6. The visual system robot grabbing load detection mechanism according to claim 5, characterized in that: The fixing member (87) comprises: a penetrating rod (872) vertically inserted and connected to the vertical hole (871) provided on the slider (83); a retaining ring (873) fixed to the bottom of the penetrating rod (872); a protrusion (874) fixed to the bottom of the retaining ring (873); A top plate (875) is fixed to the top of the penetration rod (872), and a limiting hole (876) is provided on the top of the top plate (875) and the flat support plate (4).

7. The visual system robot grasping load detection mechanism according to claim 6, characterized in that: The limiting hole (876) matches the protrusion (874), and the retaining ring (873) is slidably sleeved in the strip groove (81).

8. The visual system robot grabbing load detection mechanism according to claim 7, characterized in that: The inner diameter of the vertical hole (871) is smaller than the outer diameter of the retaining ring (873), and the inner diameter of the vertical hole (871) is also smaller than the outer diameter of the top plate (875).

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