Visual positioning gripper of industrial robot

Abstract

The utility model relates to the field of grippers, and discloses an industrial robot visual positioning gripper which comprises a supporting plate, the top of the supporting plate is fixedly connected with an angle adjusting mechanism, the middles of the left end and the right end of the bottom of the supporting plate are fixedly connected with first fixing plates, and a two-way lead screw is rotationally connected between the opposite side walls of the two first fixing plates. The left end of the bidirectional lead screw penetrates out of the left side of the first left fixing plate, the outer wall of the left end of the bidirectional lead screw is fixedly connected with a first gear, the first gear is located on the left side of the supporting plate, a second motor is fixedly installed on the left side of the top of the supporting plate, and the left end of an output shaft of the second motor is fixedly connected with a second gear which is located on the top of the first gear and meshed with the first gear. Through the design of the first motor and the connecting frame, adjustment of the grabbing angle of the grabbing tool can be easily achieved, and the grabbing requirements under different working conditions are met. The camera and the infrared distance measuring sensor are used in cooperation, accurate positioning of the target object can be achieved, and the accuracy and the success rate of grabbing operation are improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of grab, concretely is a kind of industrial robot vision positioning grab. BACKGROUND

[0002] With the continuous improvement of industrial automation, more and more enterprises begin to use robots to complete some simple, repetitive tasks, in industrial production, robots need to frequently carry out object grabbing, carrying and assembly operations, and machine vision technology is a kind of non-contact optical sensing technology combining software and hardware, which can automatically extract information from captured images and execute control instructions.

[0003] The current robot grabber is difficult to quickly adjust the grabbing direction when the workpiece deviates from the station or multiple workpieces appear at the same time, and it is difficult to meet the demand of accurate grabbing. UTILITY MODEL CONTENT

[0004] In order to overcome the above-mentioned shortcomings, the utility model provides an industrial robot vision positioning grab.

[0005] The utility model takes the technical scheme:

[0006] An industrial robot vision positioning grab includes a support plate, the top of the support plate is fixedly connected with an angle adjusting mechanism, the bottom of the support plate is fixedly connected with a fixed plate one at the middle of the left and right ends, a bidirectional screw is rotatably connected between the opposite side walls of the two fixed plate ones, the left end of the bidirectional screw penetrates out of the left side of the left fixed plate one, the left end of the outer wall of the bidirectional screw is fixedly connected with a gear one, the gear one is located on the left side of the support plate, a motor two is fixedly installed on the left side of the top of the support plate, the output shaft left end of the motor two is fixedly connected with a gear two, the gear two is located on the top of the gear one, the gear two is engaged with the gear one, the front and back sides of the fixed plate one are provided with a fixed plate two, the fixed plate two is fixedly connected on the bottom of the support plate, a guide rod is fixedly connected between the two fixed plate twos opposite to each other, the left and right sides below the bidirectional screw are provided with a connecting rod, the connecting rod extends forward and backward, the top of each connecting rod is fixedly connected with a connecting block at the front end, the middle and the rear end, the two guide rods penetrate through the front and back connecting blocks respectively, the front and back connecting blocks are slidably connected with the two guide rods respectively, the bidirectional screw penetrates through the middle two connecting blocks, the two connecting blocks in the middle are threadedly connected with the two sides of the bidirectional screw respectively, the bottom of the connecting rod is fixedly connected with a vertical rod at the front and back ends, the bottom ends of the left two vertical rods are fixedly connected with a jaw one at the right side, the bottom ends of the right two vertical rods are fixedly connected with a jaw two at the left side, the two vertical rods at the bottom of the right connecting rod are between the two vertical rods at the bottom of the left connecting rod, the jaw one and the jaw two are staggered, the two jaw ones are between the two jaw twos; the bottom of the support plate is fixedly connected with a plurality of integrated plates, the integrated plates are distributed in a rectangular array on the front and back sides of the bidirectional screw, the bottom of the integrated plate is fixedly installed with a camera and an infrared distance measuring sensor.

[0007] The clamping jaw one and the clamping jaw two are half rings, the clamping jaw one and the clamping jaw two are staggered front and back, the clamping jaw one and the clamping jaw two are opposite, the top end of the clamping jaw one and the clamping jaw two are fixedly connected with the limiting block, and the limiting block and the connecting rod are located at the same horizontal plane and abut against each other.

[0008] The angle adjusting mechanism comprises a connecting plate fixedly connected to the top of the supporting plate through a plurality of bolts, a connecting shaft fixedly connected to the bottom of the connecting plate at the center of the top of the connecting plate, a concave platform fixedly connected to the top end of the connecting shaft, the concave platform being a circular flat plate, the concave platform having a connecting frame at the top thereof, the connecting frame being rotatably connected to the upper part of the concave platform through a bearing at the outer wall of the bottom of the connecting frame, the connecting frame being a square shell, a motor one fixedly installed at the inner bottom wall of the connecting frame, an output shaft of the motor one downwardly penetrating through the bottom of the connecting frame, the output shaft of the motor one rotatably connected to the connecting frame through a bearing, and the output shaft of the motor one fixedly connected to the center of the top of the concave platform at the bottom end thereof.

[0009] The utility model discloses the beneficial effects of:

[0010] The utility model discloses the design through motor one and connecting frame can easily realize the adjustment of the angle of the gripper, satisfy the demand of the different working conditions under the grabbing.

[0011] The cooperation of the camera and the infrared distance sensor can realize accurate positioning of the target object and improve the accuracy and success rate of the grabbing operation.

[0012] The design of the bidirectional screw rod and the connecting rod enables the clamping jaw one and the clamping jaw two to maintain stable clamping force during movement, avoiding the object from slipping or being damaged during grabbing. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 It is a structural schematic diagram of the utility model;

[0014] Figure 2 It is Figure 1 A left side view structural schematic diagram;

[0015] Figure 3 It is Figure 1 A rear view of

[0016] Figure 4 It is Figure 3 A section view at A-A of

[0017] Figure 5 It is Figure 1 A right view of

[0018] Figure 6 It is Figure 5 A section view at B-B of

[0019] Figure 7 is Figure 1 a bottom view of the utility model;

[0020] Figure 8 is the integrated board distribution schematic diagram of the utility model;

[0021] Figure 9 is the clamping state structure schematic diagram of the utility model.

[0022] In all the drawings, the specific reference signs are: 1, support plate; 2, connecting plate; 3, bolt; 4, connecting shaft; 5, concave table; 6, connecting frame; 7, motor one; 8, mounting hole; 9, fixed plate one; 10, two-way screw; 11, gear one; 12, motor two; 13, gear two; 14, fixed plate two; 15, guide rod; 16, connecting rod; 17, connecting block; 18, vertical rod; 19, clamping jaw one; 20, clamping jaw two; 21, limit block; 22, integrated board; 23, camera; 24, infrared distance measuring sensor. DETAILED DESCRIPTION

[0023] As Figures 1-9The industrial robot visual positioning gripper is shown: a support plate 1, the top of the support plate 1 is fixedly connected with an angle adjusting mechanism, the middle of the left and right ends of the bottom of the support plate 1 is fixedly connected with a fixed plate one 9, a bidirectional screw 10 is rotatably connected between the opposite side walls of the two fixed plate ones 9, the left end of the bidirectional screw 10 penetrates out of the left side of the left fixed plate one 9, the left end outer wall of the bidirectional screw 10 is fixedly connected with a gear one 11, the gear one 11 is located on the left side of the support plate 1, a motor two 12 is fixedly installed on the top left side of the support plate 1, the output shaft left end of the motor two 12 is fixedly connected with a gear two 13, the gear two 13 is located on the top of the gear one 11, the gear two 13 is engaged with the gear one 11, the front and back sides of the fixed plate one 9 are provided with a fixed plate two 14, the fixed plate two 14 is fixedly connected on the bottom of the support plate 1, a guide rod 15 is fixedly connected between the two fixed plate twos 14 opposite to each other in left and right, the left and right sides below the bidirectional screw 10 are provided with a connecting rod 16, the connecting rod 16 extends forward and backward, the top front end, the middle and the rear end of each connecting rod 16 are fixedly connected with a connecting block 17, the two guide rods 15 penetrate through the front and back two connecting blocks 17 respectively, the front and back two connecting blocks 17 are slidably connected with the two guide rods 15 respectively, the bidirectional screw 10 penetrates through the middle two connecting blocks 17, the middle two connecting blocks 17 are threadedly connected with the two sides of the bidirectional screw 10 respectively, the bottom front and back ends of the connecting rod 16 are fixedly connected with a vertical rod 18, the bottom right side of the left two vertical rods 18 is fixedly connected with a jaw one 19, the bottom left side of the right two vertical rods 18 is fixedly connected with a jaw two 20, the two vertical rods 18 at the bottom of the right connecting rod 16 are between the two vertical rods 18 at the bottom of the left connecting rod 16, the jaw one 19 and the jaw two 20 are staggered, the two jaw ones 19 are between the two jaw twos 20; a plurality of integrated plates 22 are fixedly connected on the bottom of the support plate 1, the integrated plates 22 are distributed in a rectangular array on the front and back sides of the bidirectional screw 10, the bottom of the integrated plate 22 is fixedly installed with a camera 23 and an infrared distance measuring sensor 24.

[0024] The jaw one 19 and the jaw two 20 are both semicircular, the jaw one 19 and the jaw two 20 are staggered forward and backward, the jaw one 19 and the jaw two 20 are opposite, the top ends of the jaw one 19 and the jaw two 20 are fixedly connected with a limiting block 21, the limiting block 21 is located at the same horizontal position with the connecting rod 16, and the limiting block 21 abuts against the connecting rod 16.

[0025] The angle adjusting mechanism includes a connecting plate 2 fixedly connected to the top of the support plate 1 by several bolts 3, the top center of the connecting plate 2 is fixedly connected with the bottom of the connecting shaft 4, the top end of the connecting shaft 4 is fixedly connected with the bottom of the concave platform 5, the concave platform 5 is a circular flat plate, the top of the concave platform 5 has a connecting frame 6, the bottom outer wall of the connecting frame 6 is rotatably connected with the upper part of the concave platform 5 through a bearing, the connecting frame 6 is a square shell, a motor one 7 is fixedly installed on the inner bottom wall of the connecting frame 6, the output shaft of the motor one 7 penetrates through the bottom of the connecting frame 6 downward, the output shaft of the motor one 7 is rotatably connected with the connecting frame 6 through a bearing, and the bottom end of the output shaft of the motor one 7 is fixedly connected with the top center of the concave platform 5. Four mounting holes 8 are formed in the top of the connecting frame 6 and are distributed in a square shape.

[0026] Firstly, the industrial robot vision gripper is fixedly installed on the industrial robot through the four mounting holes 8 on the connecting frame 6.

[0027] When it is necessary to adjust the grabbing angle of the gripper, the motor one 7 is started, the output shaft of the motor one 7 is fixedly connected with the top center of the concave platform 5, and the connecting frame 6 is rotatably connected with the inner side wall of the concave platform 5 through a bearing, therefore, the rotation of the motor one 7 will drive the connecting frame 6 and the whole support plate 1 and the gripper part to rotate relative to the concave platform 5, so as to realize the adjustment of the grabbing angle.

[0028] Before grabbing, the camera 23 and the infrared distance sensor 24 at the bottom of the integrated plate 22 work cooperatively to locate the target object.

[0029] The camera 23 is used to capture the image of the object and determine the position and shape of the object through image processing algorithm.

[0030] The infrared distance sensor 24 is used to measure the distance between the gripper and the target object, so as to ensure that the gripper can accurately approach and contact the object.

[0031] Once the object is accurately located, the motor two 12 is started, the output shaft of the motor two 12 drives the bidirectional lead screw 10 to rotate through the meshing of the gear two 13 and the gear one 11.

[0032] The rotation of the bidirectional lead screw 10 will cause the middle connecting block 17 screwedly connected with the bidirectional lead screw 10 and the clamping jaw one 19 and the clamping jaw two 20 connected through the connecting rod 16 to move.

[0033] Since the clamping jaw one 19 and the clamping jaw two 20 are respectively fixed on the vertical rods 18 on the left and right sides and are arranged in front and back staggered manner, their relative movement will realize the clamping of the object.

[0034] The top end of the clamping jaw one 19 and the clamping jaw two 20 is fixedly connected with the limiting block 21, and these limiting blocks are used to prevent the clamping jaws from being excessively opened or closed during the movement, so as to ensure the stability and accuracy of the grabbing operation.

[0035] The utility model only protects the mechanical part, and the function realized through the software control part related thereto is not within the protection range of the utility model.

Claims

1. A vision-based positioning gripper for industrial robots, characterized in that, The system includes a support plate (1), with an angle adjustment mechanism fixedly connected to the top of the support plate (1). Fixing plates (9) are fixedly connected to the middle of the left and right ends of the bottom of the support plate (1). A bidirectional lead screw (10) is rotatably connected between the opposite sidewalls of the two fixing plates (9). The left end of the bidirectional lead screw (10) extends through the left side of the left fixing plate (9). A gear (11) is fixedly connected to the outer wall of the left end of the bidirectional lead screw (10). The gear (11) is located on the left side of the support plate (1). A motor (12) is fixedly installed on the top left side of the support plate (1). Gear 2 (13) is fixedly connected to the left end of the output shaft. Gear 2 (13) is located on top of gear 1 (11) and meshes with gear 1 (11). Fixing plate 2 (14) is fixed on both the front and rear sides of fixing plate 1 (9). Fixing plate 2 (14) is fixedly connected to the bottom of support plate (1). Guide rod (15) is fixedly connected between two opposite fixing plates 2 (14). Connecting rod (16) is fixedly connected to the lower left and right sides of the double-acting screw (10). The connecting rod (16) extends forward and backward. The top front end, middle and rear end of each connecting rod (16) are connected to the front end, middle and rear end of the screw. Each is fixedly connected to a connecting block (17). Two guide rods (15) pass through the front and rear connecting blocks (17) respectively. The front and rear connecting blocks (17) are slidably connected to the two guide rods (15) respectively. A double-acting screw (10) passes through the two middle connecting blocks (17). The two middle connecting blocks (17) are threaded to both sides of the double-acting screw (10) respectively. Vertical rods (18) are fixedly connected to the bottom front and rear ends of the connecting rod (16). The bottom right side of the two left vertical rods (18) is fixedly connected to the first clamp (19). The bottom left side of the two right vertical rods (18) is fixedly connected to the first clamp (19). The two clamps (20) are fixedly connected to each side. The two vertical rods (18) at the bottom of the right connecting rod (16) are between the two vertical rods (18) at the bottom of the left connecting rod (16). The clamps (19) and clamps (20) are staggered, with the two clamps (19) between the two clamps (20). The bottom of the support plate (1) is fixedly connected to multiple integrated plates (22). The integrated plates (22) are arranged in a rectangular array on the front and rear sides of the bidirectional lead screw (10). The bottom of the integrated plates (22) is fixedly installed with a camera (23) and an infrared ranging sensor (24).

2. The industrial robot vision positioning gripper according to claim 1, characterized in that, Both gripper 1 (19) and gripper 2 (20) are semi-circular. Gripper 1 (19) and gripper 2 (20) are staggered and face each other. The top of gripper 1 (19) and gripper 2 (20) are fixedly connected to limiting block (21). Limiting block (21) and connecting rod (16) are at the same level. Limiting block (21) and connecting rod (16) abut against each other.

3. The industrial robot vision positioning gripper according to claim 1, characterized in that, The angle adjustment mechanism includes a connecting plate (2), which is fixedly connected to the top of the support plate (1) by several bolts (3). The top center of the connecting plate (2) is vertically fixedly connected to the bottom of the connecting shaft (4). The top of the connecting shaft (4) is fixedly connected to the bottom of the recessed platform (5). The recessed platform (5) is a circular flat plate. The top of the recessed platform (5) has a connecting frame (6). The bottom outer wall of the connecting frame (6) is rotatably connected to the upper part of the recessed platform (5) through a bearing. The connecting frame (6) is a square shell. The inner bottom wall of the connecting frame (6) is fixedly installed with a motor (7). The output shaft of the motor (7) passes downward through the bottom of the connecting frame (6). The output shaft of the motor (7) is rotatably connected to the connecting frame (6) through a bearing. The bottom end of the output shaft of the motor (7) is fixedly connected to the top center of the recessed platform (5). The top of the connecting frame (6) has four mounting holes (8), which are distributed in a square shape.

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