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 robot manufacturing. The device comprises a base, a mechanical arm is arranged at the top of the base, a sensor is arranged at the bottom of the base, a clamping mechanism is arranged at the bottom of the base, a positioning mechanism is arranged at the bottom of the base, the clamping mechanism comprises an extension plate, and a fixing frame is fixedly connected to the bottom of the extension plate. The clamping mechanism is arranged, the hydraulic rod is started, when the hydraulic rod is started, the fixing plate can be jacked up, when the fixing plate moves upwards, the first connecting rod can be erected on the fixing frame, and when the fixing plate moves upwards, the second connecting rod can be erected on the fixing frame; when the fixing frame is erected and pushes the second connecting rod to move towards the side close to the fixing plate, the first sliding block located at the bottom of the sliding plate slides in the sliding groove, and meanwhile the clamping blocks located at the bottom of the sliding plate are driven to move at the same time.

Description

TECHNICAL FIELD

[0001] The utility model belongs to robot manufacturing technical field, especially, relate to a kind of positioning clamping device based on robot vision. BACKGROUND

[0002] Robot vision is called machine vision in broad sense, which refers to the field of applying computer vision technology to robot system, and it is the cross discipline of computer vision, robot technology and artificial intelligence, so that robot can perceive and understand visual information in surrounding environment, and make corresponding decision and action.

[0003] Robot vision can be used in positioning clamping device, and existing robot vision positioning clamping device may be difficult to quickly and stably clamp the required parts or materials when in use, therefore, the utility model provides a kind of positioning clamping device based on robot vision. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a kind of positioning clamping device based on robot vision, which achieves the effect of clamping parts through clamping mechanism, and solves the problem that existing robot vision parts may be difficult to quickly and stably clamp the required parts or materials when clamping.

[0005] To solve the above technical problems, the utility model is realized by the following technical schemes:

[0006] The utility model is a kind of positioning clamping device based on robot vision, including base, the base top is provided with mechanical arm, the base bottom is provided with inductor, the base bottom is provided with clamping mechanism, the base bottom is provided with positioning mechanism;

[0007] The clamping mechanism includes extension plate, the extension plate bottom is fixedly connected with fixed frame, the fixed frame inner wall is rotatably connected with connecting rod one, the connecting rod one end away from fixed frame is rotatably connected with connecting rod two, the connecting rod two end away from connecting rod one is fixedly connected with sliding plate, the sliding plate bottom is fixedly connected with clamping block, the clamping block outer wall is fixedly connected with rubber pad, the base bottom is fixedly connected with hydraulic rod, the hydraulic rod bottom is fixedly connected with fixed plate, the fixed plate bottom is fixedly connected with concave plate, the number of concave plate is several, the concave plate is internally provided with sliding groove, the concave plate inner wall is slidably connected with sliding block one, and the sliding block one bottom is fixedly connected with sliding plate bottom.

[0008] Further, the extension plate outer surface is fixedly connected with the base outer surface, and the number of extension plate is several.

[0009] Further, the positioning mechanism includes support plate, the support plate bottom is fixedly connected with the base bottom, and the number of support plate is several.

[0010] Further, the fixed plate is internally provided with a through groove, and the bottom of the supporting plate penetrates the inner wall of the fixed plate and extends to the outside.

[0011] Further, the outer wall of the fixed block is fixedly connected with a convex block.

[0012] Further, the outer wall of the convex block is slidably connected with a second sliding block, the outer wall of the second sliding block is fixedly connected with a pushing plate, and the bottom of the pushing plate is fixedly connected with the bottom of the fixed plate.

[0013] Further, the bottom of the pushing plate is fixedly connected with a triangular block, the inner wall of the supporting plate is slidably connected with a push rod, the outer wall of the push rod is fixedly connected with a positioning plate, and one end of the push rod away from the positioning plate is fixedly connected with a pulley.

[0014] Further, the outer wall of the pulley is fixedly connected with a spring, one end of the spring away from the pulley is fixedly connected with the outer wall of the supporting plate, the outer surface of the pulley is in contact with the outer wall of the triangular block, and the outer wall of the push rod penetrates the inner wall of the positioning plate and extends to the outside.

[0015] The utility model has the following beneficial effects:

[0016] 1. The utility model discloses a clamping mechanism, starts the hydraulic rod, and when the hydraulic rod starts, the fixed plate is lifted, when the fixed plate moves upwards, the connecting rod one is erected on the fixed frame, when the fixed frame is erected, the connecting rod two is pushed to move to the side close to the fixed plate, at this time, the sliding block one at the bottom of the sliding plate also slides in the sliding groove, and the clamping block at the bottom of the sliding plate is also moved simultaneously, so that the required material is clamped, which is convenient for clamping the required material, and can be quickly operated and stably clamped.

[0017] 2. The utility model discloses a positioning mechanism, the pushing plate at the bottom of the fixed plate also moves upwards simultaneously, when the pushing plate moves, the second sliding block at the end of the pushing plate slides on the convex block on the outer wall of the fixed block, when the second sliding block moves, the triangular block at the bottom of the second sliding block also moves upwards simultaneously, at this time, the pulley at the end of the spring moves along the inclined angle of the triangular block, so that the push rod moves, when the push rod moves, the positioning plate also moves, and the spring is also compressed, which has the advantages of positioning the material or part, ensuring assembly accuracy, and improving machining accuracy.

[0018] Of course, any product implementing the utility model does not necessarily need to achieve all the advantages mentioned above. DRAWINGS

[0019] In order to more clearly illustrate the technical scheme of the embodiments of the present application, the drawings needed for the description of the embodiments will be briefly introduced as follows. Obviously, the drawings described in the following description are only some embodiments of the present application, and not all embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the present application.

[0020] Figure 1 The present application is a whole structure schematic diagram.

[0021] Figure 2 The present application is a base structure schematic diagram.

[0022] Figure 3 The present application is a hydraulic rod structure schematic diagram.

[0023] Figure 4 The present application is a support plate structure schematic diagram.

[0024] Figure 5 The present application is a spring structure schematic diagram.

[0025] In the drawings, the component list represented by each number is as follows:

[0026] 11, base; 12, mechanical arm; 13, inductor; 1, clamping mechanism; 101, extension plate; 102, fixed frame; 103, connecting rod one; 104, connecting rod two; 105, clamping block; 106, concave plate; 107, sliding block one; 108, sliding groove; 109, rubber pad; 110, fixed plate; 111, hydraulic rod; 112, sliding plate; 2, positioning mechanism; 201, support plate; 202, through slot; 203, fixed block; 204, convex block; 205, sliding block two; 206, push plate; 207, triangular block; 208, pulley; 209, push rod; 210, positioning plate; 211, spring. DETAILED DESCRIPTION

[0027] The technical scheme in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the present application.

[0028] Please refer to Figures 1-5As shown, the utility model is a kind of positioning clamping device based on robot vision, including base 11, base 11 top is provided with mechanical arm 12, base 11 bottom is provided with inductor 13, base 11 bottom is provided with clamping mechanism 1, base 11 bottom is provided with positioning mechanism 2, clamping mechanism 1 includes extension plate 101, fixedly connected with fixed frame 102 at extension plate 101 bottom, rotary connection is established between fixed frame 102 inner wall and connecting rod one 103, and connecting rod one 103 is rotated in it by fixed frame 102, and one end, away from fixed frame 102, of connecting rod one 103 is rotatably connected with connecting rod two 104, and one end, away from connecting rod one 103, of connecting rod two 104 is fixedly connected with sliding plate 112, and sliding plate 112 is pushed by connecting rod two 104, and fixedly connected with clamping block 105 at sliding plate 112 bottom, and material is clamped by clamping block 105, and fixedly connected with rubber pad 109 on the outer wall of clamping block 105, and prevent from slipping when clamping by rubber pad 109.

[0029] Fixedly connected with hydraulic rod 111 at base 11 bottom, fixedly connected with fixed plate 110 at hydraulic rod 111 bottom, and fixed plate 110 is lifted by hydraulic rod 111, and fixedly connected with concave plate 106 at fixed plate 110 bottom, the number of concave plate 106 is several, and the inside of concave plate 106 is provided with sliding groove 108, and sliding block one 107 is slid in it by concave plate 106, and slidingly connected with sliding block one 107 on the inner wall of concave plate 106, and the bottom of sliding block one 107 is fixedly connected with the bottom of sliding plate 112, and material is clamped by clamping block 105 by sliding block one 107 sliding, and the outer surface of extension plate 101 is fixedly connected with the outer surface of base 11, and the number of extension plate 101 is several.

[0030] The positioning mechanism 2 comprises a support plate 201, the bottom of the support plate 201 is fixedly connected with the bottom of the base 11, the number of the support plate 201 is several, a through groove 202 is arranged in the inner part of the fixed plate 110, the support plate 201 supports the mechanism, the bottom of the support plate 201 penetrates the inner wall of the fixed plate 110 and extends to the outside, a fixed block 203 is fixedly connected with the outer wall of the support plate 201, a convex block 204 is fixed by the fixed block 203, the outer wall of the fixed block 203 is fixedly connected with the convex block 204, a sliding block two 205 is slidingly connected with the outer wall of the convex block 204, the sliding block two 205 slides on the convex block 204, a pushing plate 206 is fixedly connected with the outer wall of the sliding block two 205, the bottom of the pushing plate 206 is fixedly connected with the bottom of the fixed plate 110, the pushing plate 206 drives the sliding block two 205 to move, a triangular block 207 is fixedly connected with the bottom of the pushing plate 206, a push rod 209 is slidingly connected with the inner wall of the support plate 201, the triangular block 207 drives the pulley 208 to move upwards, a positioning plate 210 is fixedly connected with the outer wall of the push rod 209, the positioning plate 210 positions the material, a pulley 208 is fixedly connected with the end, away from the positioning plate 210, of the push rod 209, a spring 211 is fixedly connected with the outer wall of the pulley 208, the spring 211 rebounds the pulley 208, the end, away from the pulley 208, of the spring 211 is fixedly connected with the outer wall of the support plate 201, the outer surface of the pulley 208 is in contact with the outer wall of the triangular block 207, the pulley 208 slides on the surface of the push rod 209, and the outer wall of the push rod 209 penetrates the inner wall of the positioning plate 210 and extends to the outside.

[0031] One specific application of the embodiment is:

[0032] When the material needs to be clamped, the mechanical arm is moved to the appropriate position, the sensor 13 identifies the component to start the hydraulic rod 111, when the hydraulic rod 111 is started, the fixed plate 110 is lifted up, when the fixed plate 110 moves up, the connecting rod one 103 is erected on the fixed frame 102, when the fixed frame 102 is erected, the connecting rod two 104 is pushed to move to the side close to the fixed plate 110, at this time, the slider one 107 at the bottom of the sliding plate 112 also slides in the sliding groove 108, and the clamp block 105 at the bottom of the sliding plate 112 is also moved at the same time, so as to clamp the required material, the advantage is that the required material is convenient to clamp, and the operation is fast and stable, when the fixed plate 110 moves up, the push plate 206 at the bottom of the fixed plate 110 also moves up at the same time, when the push plate 206 moves, the slider two 205 at the end of the push plate 206 slides on the convex block 204 on the outer wall of the fixed block 203, when the slider two 205 moves, the triangular block 207 at the bottom is also moved up at the same time, at this time, the pulley 208 at the end of the spring 211 slides along the inclined angle of the triangular block 207, so that the push rod 209 moves, when the push rod 209 moves, the positioning plate 210 also moves, and the spring 211 is compressed, the advantage is that the material or part is positioned, the assembly precision is guaranteed, and the machining precision is improved.

[0033] In the description of the present specification, the description of the terms "one embodiment", "example", "specific example" and the like means that the specific features, structures, materials or characteristics described in combination with the embodiment or example are contained in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0034] The preferred embodiments of the above disclosed application are only used to help explain the application. The preferred embodiments do not describe all the details, nor limit the application to the specific embodiments described. Obviously, according to the content of the specification, many modifications and changes can be made. The specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the application, so that those skilled in the art can well understand and utilize the application. The application is limited by the claims and their entire scope and equivalents.

Claims

1. A robot vision-based positioning and gripping device, comprising a base (11), a top of which is provided with a mechanical arm (12), and a bottom of which is provided with a sensor (13), characterized in that: The bottom of the base (11) is provided with a clamping mechanism (1), and the bottom of the base (11) is provided with a positioning mechanism (2); The clamping mechanism (1) comprises an extension plate (101), a fixed frame (102) is fixedly connected to the bottom of the extension plate (101), a connecting rod one (103) is rotatably connected to the inner wall of the fixed frame (102), a connecting rod two (104) is rotatably connected to the end, away from the fixed frame (102), of the connecting rod one (103), a sliding plate (112) is fixedly connected to the end, away from the connecting rod one (103), of the connecting rod two (104), a clamping block (105) is fixedly connected to the bottom of the sliding plate (112), a rubber pad (109) is fixedly connected to the outer wall of the clamping block (105), a hydraulic rod (111) is fixedly connected to the bottom of the base (11), a fixed plate (110) is fixedly connected to the bottom of the hydraulic rod (111), a concave plate (106) is fixedly connected to the bottom of the fixed plate (110), the number of the concave plates (106) is several, a sliding groove (108) is formed in the concave plate (106), and a sliding block one (107) is slidably connected to the inner wall of the concave plate (106).

2. The robot vision-based positioning and gripping device according to claim 1, characterized in that, The outer surface of the extension plate (101) is fixedly connected with the outer surface of the base (11), and the number of the extension plates (101) is several.

3. The robot vision-based positioning and gripping device according to claim 2, wherein, The positioning mechanism (2) comprises a support plate (201), the bottom of the support plate (201) is fixedly connected with the bottom of the base (11), and the number of the support plates (201) is several.

4. The robot vision-based positioning and gripping device according to claim 3, wherein, A through groove (202) is formed in the fixed plate (110), and the bottom of the support plate (201) penetrates through the inner wall of the fixed plate (110) and extends to the outside.

5. The robot vision-based positioning and gripping device according to claim 4, characterized in that, A fixed block (203) is fixedly connected to the outer wall of the support plate (201), and a convex block (204) is fixedly connected to the outer wall of the fixed block (203).

6. The robot vision-based positioning and gripping device according to claim 5, wherein, A sliding block two (205) is slidably connected to the outer wall of the convex block (204), a pushing plate (206) is fixedly connected to the outer wall of the sliding block two (205), and the bottom of the pushing plate (206) is fixedly connected with the bottom of the fixed plate (110).

7. The robot vision-based positioning and gripping device according to claim 6, characterized in that, A triangular block (207) is fixedly connected to the bottom of the pushing plate (206), a push rod (209) is slidably connected to the inner wall of the support plate (201), a positioning plate (210) is fixedly connected to the outer wall of the push rod (209), and one end, away from the positioning plate (210), of the push rod (209) is fixedly connected with a pulley (208).

8. The robot vision-based positioning and gripping device according to claim 7, characterized in that, A spring (211) is fixedly connected to the outer wall of the pulley (208), one end, away from the pulley (208), of the spring (211) is fixedly connected with the outer wall of the support plate (201), the outer surface of the pulley (208) is in contact with the outer wall of the triangular block (207), and the outer wall of the push rod (209) penetrates through the inner wall of the positioning plate (210) and extends to the outside.

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