Manipulator grabbing and positioning assistor

Abstract

The utility model discloses a manipulator grabbing and positioning assistor, which belongs to the technical field of manipulator positioning assistors, and comprises a rectangular box, two hydraulic rods are arranged on the outer side of the rectangular box, the telescopic end of each hydraulic rod is fixedly connected with a sliding block, the bottom surface of each sliding block is fixedly connected with a toothed plate, and the toothed plate is fixedly connected with the rectangular box. The two side faces of the rectangular box are each provided with two sliding grooves, the outer surface of each sliding block is slidably connected to the interiors of the two sliding grooves, the side faces, close to each other, of the two sliding blocks are jointly and fixedly connected with a connecting plate, two stepping motors are arranged above the connecting plate, and the output end of each stepping motor is fixedly connected with a rotating shaft. After the 3D vision sensor rotates by 180 degrees, the cleaning cylinder continues to move downwards until the cleaning cylinder completely wraps the image shooting position of the 3D vision sensor, then the stepping motor is controlled to operate, dust on the surface of the stepping motor can be cleaned, and therefore the application scene of the 3D vision sensor is increased.

Description

Technical Field

[0001] This utility model belongs to the technical field of robotic arm positioning aids, and in particular relates to a robotic arm grasping and positioning aid. Background Technology

[0002] A robotic arm positioning aid is a device or system used to improve the grasping accuracy of a robotic arm, enhance its adaptability and flexibility, ensure grasping stability and safety, and improve production efficiency and quality. Common positioning aids include 3D vision sensors.

[0003] Currently, existing 3D vision sensors are only suitable for a limited range of working environments and cannot handle complex work scenarios. For example, when used in a dusty workshop, dust will cover the lens of the 3D vision sensor, causing it to malfunction.

[0004] To address this issue, we propose a robotic gripper positioning aid. Utility Model Content

[0005] The purpose of this invention is to solve the problem in the existing technology that it is impossible to remove dust from the lens of a 3D vision sensor, which causes certain inconvenience, and to propose a robotic arm grasping and positioning aid.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A robotic gripper positioning aid includes a rectangular box. Two hydraulic rods are mounted on the outer side of the rectangular box. A slider is fixedly connected to the telescopic end of each hydraulic rod. A toothed plate is fixedly connected to the bottom surface of each slider. Two sliding grooves are formed on both sides of the rectangular box. The outer surface of each slider is slidably connected to the interior of the two sliding grooves. A connecting plate is fixedly connected to the side of the two sliders that are close to each other. Two stepper motors are mounted above the connecting plate. A rotating shaft is fixedly connected to the output end of each stepper motor. The outer surface of each rotating shaft is rotatably connected to the inner wall of the connecting plate. A cleaning cylinder is mounted below each rotating shaft. The top end of each cleaning cylinder contacts the bottom end of the rotating shaft. Two rectangular plates are fixedly connected to the bottom surface of the rectangular box. A short shaft is rotatably connected to the inner wall of each rectangular plate. A 3D vision sensor is fixedly connected to the end of the two short shafts that are close to each other. Gears are fixedly connected to the ends of the two short shafts that are far apart from each other. The outer surface of each gear meshes with the outer surface of the toothed plate.

[0008] Preferably, each hydraulic rod has a fixing block fixedly connected to its outer surface, and the two fixing blocks are respectively fixedly connected to the two sides of the rectangular box on their sides.

[0009] Preferably, the upper surface of the connecting plate is fixedly connected to two fixing seats, and the inner wall of each fixing seat is fixedly connected to the outer surface of the stepper motor.

[0010] Preferably, the bottom surface of the connecting plate is fixedly connected to two fixed cylinders, and the outer surface of each rotating shaft is rotatably connected to the inner wall of the fixed cylinder.

[0011] Preferably, each of the rotating shafts has a cross-shaped groove at its bottom end, and a cross-shaped locking block is engaged inside each of the cross-shaped grooves. The bottom end of each cross-shaped locking block is fixedly connected to the top end of the cleaning cylinder.

[0012] Preferably, a robotic arm body is fixedly connected to the back of the rectangular box, and a connecting ring is fixedly connected to the upper surface of the robotic arm body. Two bolts are threadedly connected to the inner wall of the connecting ring.

[0013] In summary, the technical effects and advantages of this utility model are as follows:

[0014] By incorporating a hydraulic rod, the movement of the hydraulic rod pushes the slider downwards, which in turn pushes the toothed plate fixed to the bottom of the slider downwards simultaneously. Since the toothed plate and gear are meshed, the gear drives the short shaft and the 3D vision sensor to rotate. The teeth on the toothed plate are half the number of teeth on the gear surface. Thus, the gear ultimately drives the 3D vision sensor to rotate 180 degrees. Simultaneously, as the hydraulic rod pushes the slider downwards, the slider also drives the connecting plate, stepper motor, and cleaning cylinder to move downwards synchronously. Once the 3D vision sensor has rotated 180 degrees, the cleaning cylinder continues to move downwards until it completely covers the area where the 3D vision sensor captures the image. Then, controlling the stepper motor cleans the dust from its surface, thereby expanding the applicable scenarios for the 3D vision sensor. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the robotic arm grasping and positioning aid of this utility model;

[0016] Figure 2 This is a three-dimensional structural diagram of the stepper motor of this utility model;

[0017] Figure 3 This is a three-dimensional structural diagram of the rotating shaft of this utility model;

[0018] Figure 4 This is a schematic diagram of the 3D vision sensor of this utility model viewed from below.

[0019] In the diagram: 1. Rectangular box; 2. Fixing block; 3. Bolt; 4. Connecting ring; 5. Robotic arm body; 6. Hydraulic rod; 7. Slider; 8. Toothed plate; 9. Gear; 10. Slide groove; 11. Shaped plate; 12. 3D vision sensor; 13. Short shaft; 14. Cleaning cylinder; 15. Fixing cylinder; 16. Connecting plate; 17. Fixing base; 18. Stepper motor; 19. Cross slot; 20. Cross block; 21. Rotating shaft. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0021] Reference Figures 1-4 A robotic gripper positioning aid includes a rectangular box 1. Two hydraulic rods 6 are arranged on the outside of the rectangular box 1. Each hydraulic rod 6 has a fixing block 2 fixedly connected to its outer surface. The two fixing blocks 2 are fixedly connected to the two sides of the rectangular box 1 on their sides. By setting the fixing blocks 2, the fixing blocks 2 can provide sufficient support force for the hydraulic rods 6, so that the hydraulic rods 6 can operate more stably.

[0022] Each hydraulic rod 6 has a slider 7 fixedly connected to its telescopic end. Each slider 7 has a toothed plate 8 fixedly connected to its bottom surface. Two slide grooves 10 are opened on both sides of the rectangular box 1. The outer surface of each slider 7 is slidably connected to the inside of the two slide grooves 10. The side of the two sliders 7 that are close to each other is fixedly connected to a connecting plate 16. Two stepper motors 18 are arranged above the connecting plate 16. Two fixing seats 17 are fixedly connected to the upper surface of the connecting plate 16. The inner wall of each fixing seat 17 is fixedly connected to the outer surface of the stepper motor 18. By setting the fixing seats 17, the stepper motor 18 can be fixed.

[0023] Each stepper motor 18 has a fixed shaft 21 at its output end. The outer surface of each shaft 21 is rotatably connected to the inner wall of the connecting plate 16. A cleaning cylinder 14 is provided below each shaft 21. The top end of each cleaning cylinder 14 is in contact with the bottom end of the shaft 21. Two fixed cylinders 15 are fixedly connected to the bottom surface of the connecting plate 16. The outer surface of each shaft 21 is rotatably connected to the inner wall of the fixed cylinder 15. By providing the fixed cylinders 15, the presence of the fixed cylinders 15 can prevent the shaft 21 from rotating unstablely.

[0024] Two rectangular plates 11 are fixedly connected to the bottom surface of the rectangular box 1. A short shaft 13 is rotatably connected to the inner wall of each rectangular plate 11. A 3D vision sensor 12 is fixedly connected to the end of the two short shafts 13 that are close to each other. A gear 9 is fixedly connected to the end of the two short shafts 13 that are far from each other. A cross slot 19 is opened at the bottom of each rotating shaft 21. A cross block 20 is engaged inside each cross slot 19. The bottom end of each cross block 20 is fixedly connected to the top of the cleaning cylinder 14. By setting the cross block 20 and using the relationship between the cross block 20 and the cross slot 19, the cleaning cylinder 14 can be disassembled for easy replacement.

[0025] The outer surface of each gear 9 meshes with the outer surface of the toothed plate 8. The back of the rectangular box 1 is fixedly connected to the robot body 5. The upper surface of the robot body 5 is fixedly connected to the connecting ring 4. The inner wall of the connecting ring 4 is threaded with two bolts 3. By setting the connecting ring 4 and the bolts 3, the robot body 5 can be connected to a suitable robot arm.

[0026] The working principle of this utility model is as follows: During use, the hydraulic rod 6 pushes the slider 7 downward, which in turn pushes the toothed plate 8 fixed on the bottom surface of the slider 7 downward simultaneously. Since the toothed plate 8 and the gear 9 are meshed, the gear 9 drives the short shaft 13 and the 3D vision sensor 12 to rotate. The teeth on the surface of the toothed plate 8 are half the size of the teeth on the surface of the gear 9. Therefore, the gear 9 ultimately drives the 3D vision sensor 12 to rotate 180 degrees. Simultaneously, as the hydraulic rod 6 pushes the slider 7 downward, the slider 7 also drives the connecting plate 16, the stepper motor 18, and the cleaning cylinder 14 to move downward synchronously. After the 3D vision sensor 12 has rotated 180 degrees, the teeth on the surface of the toothed plate 8 no longer mesh with the teeth on the surface of the gear 9. The teeth mesh on the surface, so when the hydraulic rod 6 continues to extend downwards, the toothed plate 8 will no longer drive the gear 9 to rotate, and the cleaning cylinder 14 will continue to move downwards until the cleaning cylinder 14 completely covers the position where the 3D vision sensor 12 captures the image. Then, the stepper motor 18 is controlled to run to clean the dust on its surface. It should be noted that the inner layer of the cleaning cylinder 14 is made of pure cotton industrial cloth, which can increase the service life of the cleaning cylinder 14. Also, the rectangular box 1 is fixed to the back of the hand of the robot body 5, not to the position of the fingers of the robot body 5. Therefore, when the fingers of the robot body 5 pick up items, they will not be restricted by the rectangular box 1, thereby increasing the applicable scenarios of the 3D vision sensor 12.

[0027] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0028] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0029] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A robotic gripping and positioning aid, comprising a rectangular box (1), characterized in that: Two hydraulic rods (6) are provided on the outside of the rectangular box (1). A slider (7) is fixedly connected to the telescopic end of each hydraulic rod (6). A toothed plate (8) is fixedly connected to the bottom surface of each slider (7). Two sliding grooves (10) are opened on both sides of the rectangular box (1). The outer surface of each slider (7) is slidably connected to the inside of the two sliding grooves (10). A connecting plate (16) is fixedly connected to the side of the two sliders (7) that are close to each other. Two stepper motors (18) are provided above the connecting plate (16). A rotating shaft (21) is fixedly connected to the output end of each stepper motor (18). Each rotating shaft (21) The outer surface of 21) is rotatably connected to the inner wall of the connecting plate (16). A cleaning cylinder (14) is provided below each of the rotating shafts (21). The top of each cleaning cylinder (14) is in contact with the bottom of the rotating shaft (21). Two rectangular plates (11) are fixedly connected to the bottom surface of the rectangular box (1). A short shaft (13) is rotatably connected to the inner wall of each of the rectangular plates (11). A 3D vision sensor (12) is fixedly connected to the end of the two short shafts (13) that are close to each other. A gear (9) is fixedly connected to the end of the two short shafts (13) that are far apart from each other. The outer surface of each gear (9) meshes with the outer surface of the toothed plate (8).

2. The robotic gripping and positioning aid according to claim 1, characterized in that: Each of the hydraulic rods (6) has a fixed block (2) fixedly connected to its outer surface. The two fixed blocks (2) are fixedly connected to the two sides of the rectangular box (1) respectively on their sides that are close to each other.

3. The robotic gripping and positioning aid according to claim 1, characterized in that: The upper surface of the connecting plate (16) is fixedly connected to two fixing seats (17), and the inner wall of each fixing seat (17) is fixedly connected to the outer surface of the stepper motor (18).

4. The robotic gripping and positioning aid according to claim 1, characterized in that: The bottom surface of the connecting plate (16) is fixedly connected to two fixed cylinders (15), and the outer surface of each of the rotating shafts (21) is rotatably connected to the inner wall of the fixed cylinder (15).

5. The robotic gripping and positioning aid according to claim 1, characterized in that: Each of the rotating shafts (21) has a cross-shaped slot (19) at its bottom end, and a cross-shaped block (20) is engaged inside each of the cross-shaped slots (19). The bottom end of each cross-shaped block (20) is fixedly connected to the top end of the cleaning cylinder (14).

6. The robotic gripping and positioning aid according to claim 1, characterized in that: The back of the rectangular box (1) is fixedly connected to the robot body (5), and the upper surface of the robot body (5) is fixedly connected to the connecting ring (4). The inner wall of the connecting ring (4) is threaded with two bolts (3).

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