Robot clamping jaw mechanism based on visual positioning

Abstract

The utility model provides a robot clamping jaw mechanism based on visual localization, which comprises a clamping jaw assembly, the clamping jaw assembly comprises a pair of clamping jaw pieces used for clamping automobile parts, the pair of clamping jaw pieces are installed on the front side of an installation base plate in a mirror symmetry mode, the inner side of each clamping jaw piece is provided with a first clamping opening, the inner side of each first clamping opening is glued with a rubber layer, and the clamping jaw pieces are arranged on the front side of the installation base plate; a first clamping opening is formed in the front side of the clamping jaw assembly, a second clamping opening is formed in the front side of the first clamping opening, and a second rubber layer is glued to the inner side of the second clamping opening. According to the automobile accessory clamping jaw assembly, a stranded wire harness can be clamped through the pair of first clamping openings, a rubber sealing gasket can be clamped through the pair of second clamping openings, and therefore multiple different automobile accessory parts can be clamped through the clamping jaw assembly, the clamping flexibility is remarkably improved, and meanwhile flexible accessories can be effectively protected against damage.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology, and specifically relates to a robot gripper mechanism based on vision positioning. Background Technology

[0002] The vision-based robotic gripper mechanism is an intelligent grasping device that combines visual perception technology and a mechanical execution system. Its core is to acquire real-time information about the target object's position, shape, and orientation through a vision system, and then feed this data back to the control system to drive the gripper to precisely grasp automotive parts. In existing robotic gripper mechanisms, the gripper often relies on a fixed geometry to grasp parts of a single shape. The disadvantages of this structure are that a single gripper can only handle parts of a specific shape, resulting in low gripping efficiency. Furthermore, because grippers are often made of rigid metal or hard plastic, rigid grippers may cause excessive localized force when dealing with wire harnesses and rubber seals, potentially damaging these components. Therefore, a new structure is proposed to address these issues. Utility Model Content

[0003] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a robot gripper mechanism based on vision positioning to solve the problems mentioned in the background technology.

[0004] This utility model is achieved through the following technical solution: a robot gripper mechanism based on vision positioning, comprising: a gripper assembly, wherein the gripper assembly includes a pair of gripper parts for gripping automotive parts, and the pair of gripper parts are mirror-symmetrically mounted on the front side of the mounting base plate;

[0005] The gripper has a gripping opening 1 on its inner side, and a rubber layer is glued to the inner side of the gripping opening 1. A gripping opening 2 is provided on the front side of the gripping opening 1, and a rubber layer 2 is glued to the inner side of the gripping opening 2. The inner side of the gripping opening 2 has a serrated structure.

[0006] In a preferred embodiment, the rear side of the mounting base is mounted on the front side of an L-shaped mounting plate, and a drive motor is vertically mounted on the lower inner side of the mounting plate.

[0007] The mounting plate is installed on the outside of the rotating components on both sides of the bottom of the gripper docking platform, and the gripper docking platform is installed on the top of the robot body.

[0008] In a preferred embodiment, a drive gear is mounted on the inner side of the mounting base plate above the drive motor, and the top output end of the drive motor is connected to the bottom of the drive gear above it via a coupling.

[0009] In a preferred embodiment, a pair of mirror-symmetrical driven gears are mounted on the front side of the drive gear. The drive gear meshes with the driven gear on the right, and the driven gear on the right meshes with the driven gear on the left.

[0010] In a preferred embodiment, a connecting rod is integrally formed on the front side of the driven gear, and a pair of connecting rods are installed on the front side of the pair of driven gears. The connecting rod is connected to the rear side of the gripper, and the connecting rod is connected to the center of the gripper.

[0011] In a preferred embodiment, the clamping openings on the inner sides of the two sets of clamping jaws form a circular clamping groove for clamping stranded wires. The tip of the serrated structure on the inner side of the clamping opening is rounded. Pressure sensors for monitoring pressure changes are embedded in the inner sides of both the clamping opening and the clamping opening.

[0012] In a preferred embodiment, the robot body includes a base and two sets of transmission arms, with a gripper docking platform for mounting a pair of gripper assemblies installed on the left side of the upper transmission arm.

[0013] A camera is embedded in the front bottom of the gripper docking platform, and the camera is connected to the visual positioning system inside the base.

[0014] In a preferred embodiment, each of the gripper assemblies is connected to the gripper docking platform via a rotating component, the rotating component including a rotating base and a turntable.

[0015] In a preferred embodiment, the turntable is embedded in the inner side of the rotating base, and the turntable is driven to rotate by a micro motor installed inside the rotating base.

[0016] Several sets of steel balls are embedded in the lower inner surface of the rotating base, and an annular rolling groove is provided on the side of the turntable near the lower inner surface of the rotating base.

[0017] After adopting the above technical solution, the beneficial effects of this utility model are as follows: 1. By setting a gripper assembly, the gripper assembly includes a mounting plate, a mounting base plate, and a pair of gripper pieces. The mounting plate has an L-shaped structure, and the mounting base plate is installed on the front side of the mounting plate. A drive motor is installed below the mounting plate. The drive motor drives the drive gear to rotate, thereby driving the two sets of gripper pieces to open and close through two sets of driven gears. The gripper assembly includes a semi-circular gripping opening one and a serrated gripping opening two. A rubber layer one is glued to the inner side of the gripping opening one, and a rubber layer two is glued to the inner side of the gripping opening two. A pair of gripping openings one form a circular gripping groove. The tip of the serrated gripping opening two has a rounded corner structure. In actual use, flexible stranded wire harnesses can be clamped through a pair of gripping openings one, and rubber sealing gaskets can be clamped through a pair of gripping openings two. Therefore, a variety of different auto parts can be clamped through a set of gripper assemblies, which significantly improves the flexibility of clamping and effectively protects flexible parts from damage.

[0018] 2. By setting a rotating assembly, which includes a rotating base and a turntable, the turntable is embedded in the inner side of the rotating base and driven to rotate by a micro motor inside the rotating base. The mounting plate in the gripper assembly is installed on the outer surface of the turntable. An annular rolling groove is opened on the inner surface of the turntable. Several sets of steel balls are equidistantly embedded in the annular area on the lower inner surface of the rotating base. Therefore, when the turntable rotates, the several sets of steel balls roll along the annular rolling groove, which can greatly reduce the friction force on the turntable, effectively improve the sensitivity of the turntable rotation, and thus improve the flexibility of the gripper assembly rotation. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of a vision-based robot gripper mechanism according to the present invention.

[0021] Figure 2 This utility model Figure 1 A schematic diagram of the structure at point A in the middle.

[0022] Figure 3 This is a schematic diagram of the internal structure of the gripper assembly in a vision-based robot gripper mechanism according to this utility model.

[0023] Figure 4 This is a schematic diagram of the rotating component in a vision-based robot gripper mechanism according to this utility model.

[0024] In the diagram, 100 represents the robot body, and 110 represents the gripper docking platform.

[0025] 200-Gripper assembly, 210-Mounting plate, 211-Drive gear, 220-Mounting base plate, 221-Driven gear, 222-Connecting rod, 230-Gripper piece, 231-Grip port one, 232-Grip port two;

[0026] 300-Rotating assembly, 310-Rotating base, 311-Steel ball, 320-Turntable, 321-Annular rolling groove. Detailed Implementation

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only one aspect of the present utility model, and not all aspects. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present utility model.

[0028] Please see Figures 1 to 4 A vision-based robotic gripper mechanism includes a gripper assembly 200, which includes a pair of gripper parts 230 for gripping automotive parts, and the pair of gripper parts 230 are mirror-symmetrically mounted on the front side of a mounting base plate 220.

[0029] The gripper 230 has a gripping opening 231 on its inner side, and a rubber layer is glued to the inner side of the gripping opening 231. A gripping opening 232 is provided on the front side of the gripping opening 231, and a second rubber layer is glued to the inner side of the gripping opening 232. The inner side of the gripping opening 232 has a serrated structure.

[0030] The rear side of the mounting base plate 220 is mounted on the front side of an L-shaped mounting plate 210, and a drive motor is vertically mounted on the lower inner side of the mounting plate 210.

[0031] Mounting plate 210 is mounted on the outside of rotating assembly 300 on both sides of the bottom of gripper docking platform 110, and gripper docking platform 110 is mounted on top of robot body 100.

[0032] A drive gear 211 is mounted inside the mounting base plate 220 above the drive motor, and the top output end of the drive motor is connected to the bottom of the drive gear 211 above it via a coupling.

[0033] A pair of mirror-symmetrical driven gears 221 are mounted on the front side of the drive gear 211. The drive gear 211 meshes with the driven gear 221 on the right side, and the driven gear 221 on the right side meshes with the driven gear 221 on the left side.

[0034] A connecting rod is integrally formed on the front side of the driven gear 221. A pair of connecting rods 222 are installed on the front side of the pair of driven gears 221. The connecting rod is connected to the rear side of the gripper 230. The connecting rod 222 is connected to the center of the gripper 230.

[0035] The clamping openings 231 on the inner side of the two sets of grippers 230 form a circular clamping groove for clamping the stranded wire harness. The tip of the serrated structure on the inner side of the clamping opening 232 is a rounded corner structure. Pressure sensors for monitoring pressure changes are embedded in the inner sides of both the clamping opening 231 and the clamping opening 232.

[0036] The robot body 100 includes a base and two sets of transmission arms. A gripper docking platform 110 for mounting a pair of gripper assemblies 200 is installed on the left side of the upper transmission arm.

[0037] A camera is embedded in the front bottom of the gripper docking platform 110, and the camera is connected to the visual positioning system inside the base.

[0038] Each gripper assembly 200 is connected to the gripper docking platform 110 via a rotating component 300, which includes a rotating base 310 and a turntable 320.

[0039] The turntable 320 is embedded in the inner side of the rotating base 310, and the turntable 320 is driven to rotate by a micro motor installed inside the rotating base 310.

[0040] Several sets of steel balls 311 are embedded in the lower inner surface of the rotating base 310, and an annular rolling groove 321 is provided on the side of the turntable 320 near the lower inner surface of the rotating base 310.

[0041] Example 1: Please refer to Figures 1 to 4In actual use, the robot body 100 includes a base, a pair of drive arms, and a gripper docking platform 110. The gripper mounting platform is installed on the left side of the upper drive arm. A camera is embedded in the bottom front side of the gripper docking platform 110. The camera is connected to a vision positioning system inside the base. The vision positioning system acquires information such as the position, shape, and posture of the auto parts in real time and feeds this data back to the control system to drive the gripper to accurately grasp the auto parts (both the robot body 100 and the vision positioning system are existing technologies, and their internal structure and working principle will not be described in detail here). A rotating assembly 300 is installed on each of the left and right sides below the 110. The rotating assembly 300 includes a rotating base 310 and a turntable 320. A gripper assembly 200 is installed on the outer side of each turntable 320. The gripper assembly 200 includes a mounting plate 210, a mounting base plate 220, and a pair of gripper pieces 230. A protective shell is installed on the outer side of the gripper assembly 200. The mounting plate 210 has an L-shaped structure. The vertical edge of the mounting plate 210 is fixed to the outer side of the turntable 320 by bolts, so that the rotation of the turntable 320 can drive the gripper assembly 200 to rotate. The mounting base plate 220 is installed on the front side of the mounting plate 210. A drive motor is installed on the lower inner side of the mounting plate 210. The top output end of the drive motor is connected to the bottom of the drive gear 211 installed on the inner side of the mounting base plate 220 via a coupling. Two sets of driven gears 221 with connecting rods are installed on the front side of the drive gear 211. The drive gear 211 meshes with the right driven gear 221, and the right driven gear 221 meshes with the left driven gear 221. A pair of mirror-symmetrical grippers 230 are provided on the front side of the mounting base plate 220. The connecting rods of the pair of driven gears 221 are movably connected to the rear side of the grippers 230 in front of them respectively. A pair of driven gears 221 are installed in front of them. A pair of linkage rods 222 are movably connected to the center of their respective opposing gripper parts 230. A semi-circular gripping opening 231 is provided on the inner side of the gripper part 230. A flexible rubber layer 1 is glued to the inner side of the gripping opening 231. A serrated gripping opening 232 is provided on the front side of the gripping opening 231. A flexible rubber layer 22 is glued to the inner side of the gripping opening 232. The pair of gripping openings 231 form a circular gripping groove. The tip of the serrated gripping opening 232 has a rounded corner structure. Pressure sensors for monitoring pressure changes are embedded in the inner sides of both the gripping opening 231 and the gripping opening 232.

[0042] In actual use, starting the drive motor causes the drive gear 211 to rotate counterclockwise, which in turn drives the right driven gear 221 to rotate, which in turn drives the left driven gear 221 to rotate. This, in turn, drives the two sets of gripper assemblies 230 to open. Similarly, rotating the drive gear 211 clockwise causes the two sets of gripper assemblies 200 to close. After the two sets of gripper assemblies 200 are open, their inner clamping grooves can clamp stranded wires, such as stranded electrical wires. The semi-circular clamping groove effectively conforms to the external shape of the stranded wire, and the flexible rubber layer protects the outer insulation layer of the wire from being damaged by clamping. The pressure sensor can... It can monitor the clamping force in real time (the drive motor and pressure sensor are existing technologies, and their structure and working principle will not be described in detail here) to prevent damage to the wire harness caused by excessive clamping. At the same time, the two sets of clamping ports 232 can clamp strip-shaped accessories such as rubber sealing strips. The serrated structure can increase the clamping friction, while the rounded tip design can prevent the sharp corners of the serrated structure from damaging the surface of the rubber sealing strip. Therefore, the final effect is that accessories of different shapes can be clamped by a single set of clamping jaw assembly 200, which greatly increases the flexibility of the clamping jaw assembly 200. The setting of two sets of clamping jaw assembly 200 can significantly increase the clamping efficiency and at the same time provide good protection for the clamped accessories.

[0043] Example 2: Please refer to Figure 2 and Figure 4 The rotating assembly 300 includes a rotating base 310 and a turntable 320. The rotating base 310 is fixed to the lower side of the gripper docking platform 110. A micro motor (the micro motor is existing technology, and its model can be selected according to the models available on the market, which will not be described here) is embedded inside the rotating base 310. The turntable 320 is embedded inside the rotating base 310, and the micro motor is fixed to the inner side of the shaft hole opened in the center of the inner side of the turntable 320 through a transmission shaft. An annular rolling groove 321 is opened in the annular area away from the shaft hole on the inner side of the turntable 320. Several sets of steel balls 311 are embedded in the annular area away from the circle on the lower inner surface of the rotating base 310. The radius length and width of the annular area formed by the several sets of steel balls 311 match the radius length and width of the annular rolling groove 321, and the radius length of the turntable 320 is greater than the radius length of the outer opening of the rotating base 310.

[0044] In actual use, the turntable 320 rotates inside the rotating base 310, thereby driving the mounting plate 210 to rotate, which in turn drives the gripper assembly 200 to rotate. The working process of the gripper assembly 200 is described in detail in Embodiment 1 and will not be repeated here. When the turntable 320 rotates, several sets of steel balls 311 roll along the annular rolling groove 321, thereby converting the sliding friction force on the turntable 320 into the rolling friction force of several sets of steel balls 311. This significantly reduces the frictional resistance on the turntable 320, thereby effectively improving the sensitivity of the turntable 320 rotation and enhancing the flexibility of the gripper assembly 200 rotation.

[0045] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A vision-based positioning robotic gripper mechanism, comprising: The clamping jaw assembly (200) is characterized in that: the clamping jaw assembly (200) comprises a pair of clamping jaw pieces (230) for clamping automobile accessories, and a pair of the clamping jaw pieces (230) are symmetrically installed on the front side of a mounting base plate (220); A clamping opening one (231) is formed in the inner side of the clamping jaw piece (230), a rubber layer is glued to the inner side of the clamping opening one (231), a clamping opening two (232) is arranged on the front side of the clamping opening one (231), a rubber layer two is glued to the inner side of the clamping opening two (232), and the inner side of the clamping opening two (232) is in a sawtooth structure.

2. A robot gripper mechanism based on visual positioning as claimed in claim 1, characterized in that: The rear side of the mounting base plate (220) is installed on the front side of an L-shaped mounting plate (210), and a driving motor is vertically installed on the inner side of the mounting plate (210) below. The mounting plate (210) is installed on the outer side of a rotating assembly (300) on both sides of the bottom of a clamping jaw butt joint platform (110), and the clamping jaw butt joint platform (110) is installed on the top of a robot main body (100).

3. A robot gripper mechanism based on visual positioning as claimed in claim 2, characterized in that: A driving gear (211) is installed on the inner side of the mounting base plate (220) above the driving motor, and the output end of the top of the driving motor is connected to the bottom of the driving gear (211) above the driving motor through a shaft coupling.

4. A robot gripper mechanism based on visual positioning as claimed in claim 3, characterized in that: A pair of mirror-symmetrical driven gears (221) are installed on the front side of the driving gear (211), the driving gear (211) is in mesh with the right driven gear (221), and the right driven gear (221) is in mesh with the left driven gear (221).

5. A robot gripper mechanism based on visual positioning as claimed in claim 4, characterized in that: A connecting rod is integrally formed on the front side of the driven gear (221), a pair of connecting rods (222) are installed on the front side of the driven gear (221), the connecting rod is connected to the rear side of the clamping jaw piece (230), and the connecting rod (222) is connected to the center of the clamping jaw piece (230).

6. A robot gripper mechanism based on visual positioning as claimed in claim 1, characterized in that: The clamping opening one (231) formed in the inner side of the clamping jaw piece (230) constitutes a circular clamping groove for clamping a strand of wire harness, the tips of the sawtooth structure formed in the inner side of the clamping opening two (232) are in a rounded structure, and the inner sides of the clamping opening one (231) and the clamping opening two (232) are both embedded with pressure sensors for monitoring pressure changes.

7. A robot gripper mechanism based on visual positioning as claimed in claim 2, characterized in that: The robot main body (100) comprises a base and two groups of transmission arms, a clamping jaw butt joint platform (110) for installing a pair of clamping jaw assemblies (200) is installed on the left side of the upper transmission arm; A camera is embedded and installed on the front side of the bottom of the clamping jaw butt joint platform (110), and the camera is connected to a visual positioning system in the base.

8. A robot gripper mechanism based on visual positioning as claimed in claim 1, characterized in that: Each group of the clamping jaw assemblies (200) is butt jointed with the clamping jaw butt joint platform (110) through a rotating assembly (300), and the rotating assembly (300) comprises a rotating base (310) and a rotating disc (320).

9. A robot gripper mechanism based on visual positioning as claimed in claim 8, characterized in that: The rotating disc (320) is embedded and installed on the inner side of the rotating base (310), and the rotating disc (320) is driven to rotate through a micro motor installed on the inner side of the rotating base (310). The rotating base (310) is internally embedded with several groups of steel balls (311) on the lower surface, and the rotating disc (320) is provided with an annular rolling groove (321) on the side close to the lower surface of the rotating base (310).

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