Accurate positioning and clamping device for robot

Abstract

The utility model discloses a precise positioning and clamping device for a robot. The problem that the position of a visual guidance camera of an existing precise positioning and clamping device is inconvenient to replace is effectively solved. Comprising a base block, a processor is arranged at the front end of the base block, a sliding groove in the left-right direction is formed in the lower end of the base block, sliding blocks are arranged on the left side and the right side in the sliding groove respectively, the two sliding blocks can move oppositely or oppositely, clamping plates are arranged at the lower ends of the sliding blocks, adjusting blocks are arranged at the front end and the rear end of the base block respectively, and moving grooves are formed in the lower ends of the adjusting blocks; the front side and the rear side of the adjusting block are each provided with a plurality of limiting holes which are evenly distributed in the left-right direction and communicate with the moving groove, a moving block is detachably connected into the moving groove, a gooseneck pipe is arranged at the lower end of the moving block, and the lower end of the gooseneck pipe is in threaded connection with a visual guiding camera. The pressing plate is provided with a limiting column which can be inserted into the limiting hole; the device is simple in structure, novel in conception, convenient to use and high in practicability.

Description

Technical Field

[0001] This utility model relates to the field of industrial robot technology, and in particular to a robot precision positioning and gripping device. Background Technology

[0002] The gripping device (end effector) of an industrial robot is the core component that directly interacts with the work object. It is an automated operating device used to grip, move objects or operate tools according to a fixed program. Its characteristic is that it can be programmed to complete various expected tasks. It is suitable for repetitive and dangerous work. Its performance directly affects the robot's flexibility, accuracy and applicable scenarios. In order to accurately grip objects, most existing gripping robots are equipped with vision guidance cameras. The camera determines the shape, size and placement of the object. The vision guidance camera transmits the image data to the processor and controls the robot's gripping device to move to the appropriate position for precise gripping.

[0003] However, existing precision positioning grippers have the following drawbacks in use: due to the different types of items to be gripped, the position of the vision camera on the gripping device is also different. For example, the top-down vertical mounting posture is suitable for positioning planar objects (such as PCB board inspection), the oblique viewing (30° to 60°) mounting posture is suitable for objects that avoid reflection and is suitable for detecting three-dimensional features (such as welds, concave and convex defects), and the side-view mounting posture is suitable for detecting side features (such as bottle labels, cylindrical outlines). Therefore, when it is necessary to change the type of items to be gripped, it is also necessary to stop the machine to adjust the position of the vision guidance camera. When adjusting, it is necessary to loosen the fixing studs to release the fixation and re-fix them in the appropriate position. The operation is cumbersome, time-consuming and labor-intensive, reducing work efficiency. Utility Model Content

[0004] In view of the above situation and in order to overcome the shortcomings of the existing technology, the purpose of this utility model is to provide a robot precision positioning and gripping device, which effectively solves the problem of inconvenient repositioning of the visual guidance camera in the existing precision positioning and gripping devices.

[0005] The technical solution is as follows: This utility model includes a base block, a processor at the front end of the base block, a sliding groove in the left-right direction at the lower end of the base block, sliders on the left and right sides of the sliding groove, the two sliders can move relative to each other or away from each other, a clamping plate at the lower end of the sliders, adjusting blocks at the front and rear ends of the base block, a moving groove at the lower end of the adjusting block, multiple limiting holes evenly distributed in the left-right direction and communicating with the moving groove at the front and rear sides of the adjusting block, a moving block detachably connected in the moving groove, a gooseneck tube at the lower end of the moving block, a vision guidance camera threadedly connected to the lower end of the gooseneck tube, a pressing groove at the front and rear ends of the moving block, a pressing plate slidably connected in the pressing groove, and a limiting post that can be inserted into the limiting hole on the pressing plate.

[0006] Preferably, the slider is slidably connected to the base block, and a stud is rotatably connected in the sliding groove and threadedly connected to the two sliders along the left and right axes, with the threads on the left and right sides of the stud having opposite directions.

[0007] Preferably, a motor is provided at the left end of the base block, and the motor output shaft is coaxially and fixedly connected to the stud.

[0008] Preferably, distance sensors are provided on the front and rear sides of the lower end of the base block.

[0009] Preferably, the distance sensor is electrically connected to the processor and the vision guidance camera.

[0010] Preferably, the opposite ends of the two pressing plates are connected to the base block via springs.

[0011] Preferably, the two pressing plates are provided with pressing blocks at their opposite ends.

[0012] Preferably, the clamping plate is provided with multiple anti-slip strips.

[0013] Compared with the prior art, the advantages of this utility model are: it can achieve precise gripping of items, and can quickly release the fixed limit of the visual guide camera when it is necessary to change the position and angle of the visual guide camera, and can quickly adjust the position and angle of the visual guide camera, which saves time and effort compared with traditional adjustment operations. Attached Figure Description

[0014] Figure 1 This is the main view axonometric drawing of this utility model.

[0015] Figure 2 This is a full-section left-side axonometric drawing of this utility model.

[0016] Figure 3 This is a full-section main view axonometric drawing of this utility model.

[0017] Figure 4 This is a full-section top-view axonometric drawing of this utility model.

[0018] Figure 5 This is a utility model Figure 2 A magnified view of A in the middle.

[0019] Figure label:

[0020] 1. Base block; 2. Processor; 3. Sliding groove; 4. Slider; 5. Clamping plate; 6. Adjusting block; 7. Moving groove; 8. Limiting hole; 9. Moving block; 10. Gooseneck tube; 11. Vision guidance camera; 12. Pressing plate; 13. Limiting post; 14. Stud; 15. Motor; 16. Distance sensor; 17. Spring; 18. Pressure block. Detailed Implementation

[0021] To make the above-mentioned objectives, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the implementations of the base model disclosed below.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0023] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings.

[0024] Depend on Figures 1 to 5 The system includes a base block 1, a processor 2 at the front end of the base block 1, a sliding groove 3 at the lower end of the base block 1 in the left-right direction, sliders 4 on the left and right sides of the sliding groove 3, which can move relative to each other or away from each other, a clamping plate 5 at the lower end of the sliders 4, adjustment blocks 6 at the front and rear ends of the base block 1, a moving groove 7 at the lower end of the adjustment block 6, and multiple limiting holes 8 evenly distributed in the left-right direction and communicating with the moving groove 7 on the front and rear sides of the adjustment block 6, a moving block 9 detachably connected in the moving groove 7, a gooseneck tube 10 at the lower end of the moving block 9, a vision guidance camera 11 threadedly connected to the lower end of the gooseneck tube 10, a pressing groove at the front and rear ends of the moving block 9, a pressing plate 12 slidably connected in the pressing groove, and a limiting post 13 that can be inserted into the limiting hole 8 on the pressing plate 12.

[0025] In order to enable the two sliders 4 to move relative to each other or in opposite directions, the sliders 4 are slidably connected to the base block 1, and the sliding groove 3 is rotatably connected to the left and right axial studs 14 and threadedly connected to the two sliders 4, with the threads on the left and right sides of the studs 14 having opposite directions.

[0026] In order to make the stud 14 rotate, a motor 15 is provided at the left end of the base block 1, and the output shaft of the motor 15 is coaxially and fixedly connected to the stud 14.

[0027] To improve gripping accuracy, distance sensors 16 are provided on the front and rear sides of the lower end of the base block 1.

[0028] For ease of use, the distance sensor 16 is electrically connected to the processor 2 and the vision guidance camera 11.

[0029] To facilitate the resetting of the limiting post 13, the opposite ends of the two pressing plates 12 are respectively connected to the base block 1 via springs 17.

[0030] To facilitate pressing the pressing plate 12, the opposite ends of the two pressing plates 12 are respectively provided with pressing blocks 18.

[0031] To enhance the clamping effect, the clamping plate 5 is provided with multiple anti-slip strips.

[0032] When this utility model is in use, firstly, when it is necessary to clamp an object, the vision guidance camera 11 obtains the position of the object relative to the clamping plate 5, and at the same time, the distance sensor 16 also obtains the precise distance to the object. The vision guidance camera 11 and the distance sensor 16 transmit the data to the processor 2 for processing. The processor 2 processes the data and controls the robot to move the base block 1 to an appropriate distance. Then, the motor 15 is started, and the motor 15 drives the stud 14 to rotate. Since the threads on the left and right sides of the stud 14 rotate in opposite directions, it drives the two sliders 4 to move relative to each other. The two sliders 4 drive the two clamping plates 5 to move relative to each other. After moving a certain distance relative to each other, the inner surface of the clamping plate 5 contacts the object and achieves the clamping of the object.

[0033] When different types of items need to be gripped, the position of the visual guide camera 11 needs to be adjusted. At this time, press the two pressure blocks 18 in the middle. The pressure blocks 18 drive the two pressure plates 12 to move relative to each other. At the same time, the spring 17 is squeezed inward. The pressure plates 12 drive the limiting post 13 to move inward. After moving inward a certain distance, the limiting post 13 is pulled out from the corresponding limiting hole 8, releasing the fixed limit on the moving block 9. Then push the moving block 9 to move it to the appropriate position and release the pressure blocks 18. Due to the restoring force of the spring 17, the pressure plate 12 is driven to move outward. The pressure plate 12 drives the limiting post 13 to move outward. After moving outward a certain distance, the limiting post 13 is inserted into the corresponding limiting hole 8, realizing the fixed limit on the visual guide camera 11. Then adjust the angle of the gooseneck tube 10, etc., to adjust the position and angle of the visual guide camera 11. After adjusting to the appropriate position, it is ready.

[0034] When the visual guide camera 11 needs to be adjusted again, and the position of the visual guide camera 11 needs to be placed behind the base block 1, press the pressure block 18 to pull the limiting post 13 out of the limiting hole 8, then take the moving block 9 out of the moving groove 7 of the front adjusting block 6 and insert it into the moving groove 7 of the rear adjusting block 6 and move it to the appropriate position. Release the pressure block 18 to achieve fixed positioning.

[0035] Compared with the prior art, the beneficial effects of this utility model are: the clamping plate, stud, moving block, vision guide camera, etc. provided can achieve precise clamping of items. At the same time, when it is necessary to change the position and angle of the vision guide camera, the fixed limit of the vision guide camera can be quickly released, and the position and angle of the vision guide camera can be quickly adjusted. Compared with the traditional adjustment operation, it saves time and effort. This structure is simple, novel in concept, easy to use, and highly practical.

[0036] It should be noted that, depending on the implementation needs, the various components described in the embodiments of this utility model can be split into more components, or two or more components or parts of components can be combined into new components to achieve the purpose of the embodiments of this utility model.

[0037] The above embodiments only illustrate several implementation methods of this utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A robot precision positioning gripping device comprising a base block (1), characterized in that, The processor (2) is arranged at the front end of the base block (1), the sliding groove (3) is arranged at the lower end of the base block (1) and extends in the left-right direction, the sliding blocks (4) are arranged at the left and right sides in the sliding groove (3), the two sliding blocks (4) are movable relative to or away from each other, the clamping plates (5) are arranged at the lower ends of the sliding blocks (4), the adjusting blocks (6) are arranged at the front and rear ends of the base block (1), the moving grooves (7) are arranged at the lower ends of the adjusting blocks (6), the limiting holes (8) are arranged at the left and right sides of the adjusting blocks (6) and extend in the left-right direction, the moving blocks (9) are detachably connected in the moving grooves (7), the goose neck pipes (10) are arranged at the lower ends of the moving blocks (9), the visual guiding cameras (11) are threadedly connected to the lower ends of the goose neck pipes (10), the pressing grooves are arranged at the front and rear ends of the moving blocks (9), the pressing plates (12) are slidably connected in the pressing grooves, and the limiting columns (13) are arranged on the pressing plates (12) and can be inserted into the limiting holes (8).

2. The robot precision positioning gripper device according to claim 1, wherein, The sliding blocks (4) are slidably connected with the base block (1), the screw posts (14) are rotatably connected in the sliding groove (3) and extend in the left-right direction, and the screw posts (14) are threadedly connected with the two sliding blocks (4), wherein the screw threads on the left and right sides of the screw posts (14) are opposite in rotation direction.

3. The robot precision positioning gripper device according to claim 1, wherein, The motor (15) is arranged at the left end of the base block (1), and the output shaft of the motor (15) is coaxially and fixedly connected with the screw post (14).

4. The robot precision positioning gripper device of claim 1, wherein, The distance sensors (16) are arranged at the front and rear sides of the lower end of the base block (1).

5. The robot precision positioning gripper device according to claim 4, wherein, The distance sensors (16) are electrically connected with the processor (2) and the visual guiding cameras (11).

6. The robot precision positioning gripper device of claim 1, wherein, The opposite ends of the two pressing plates (12) are connected with the base block (1) through the springs (17).

7. The robot precision positioning gripper device of claim 1, wherein, The pressing blocks (18) are arranged at the opposite ends of the two pressing plates (12).

8. The robot precision positioning gripper device of claim 1, wherein, The anti-skid strips are arranged on the clamping plates (5).

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