Clamping jaw mechanism with visual positioning function

Abstract

The clamping jaw mechanism comprises a connecting base, a top plate and an industrial camera, a connecting frame is fixedly connected to the center of the upper end of the top plate, the upper end of the top plate is fixedly connected with an installation frame, the industrial camera is fixedly installed on the outer side of the installation frame, and an annular lamp source is further arranged on the outer side of the installation frame. Clamping jaw bodies are movably arranged on the two sides of the bottom of the top plate, electric clamping jaw driving ends connected to the clamping jaw bodies are fixedly mounted in the center of the bottom of the top plate, a mounting hole is formed in the upper end of the bottom of the top plate, the mounting frame is detachably and fixedly connected into the mounting hole through a fastener, and the annular lamp source is fixedly connected to the mounting frame through a lamp source frame. The annular lamp source is butted with the bottom of the industrial camera. According to the utility model, a traditional mechanical positioning mode is replaced by visual positioning, so that the compatibility of products is improved, the positioning of the positions of the products with multiple specifications and sizes can be realized, a mechanical positioning assembly is prevented from being adjusted or replaced when the products are replaced, and the production efficiency is improved.

Description

Technical Field

[0001] This utility model relates to the field of material handling, and in particular to a gripper mechanism with visual positioning. Background Technology

[0002] Handling grippers are clamping devices installed at the end effector of robots, used for the precise gripping, handling, and placement of various workpieces. They play a crucial role in industrial automation, significantly improving production efficiency, reducing costs, and operating stably under various complex conditions. Currently, in the production process, gripping mechanisms primarily rely on the mechanical positioning of products, resulting in poor compatibility. They can only be used for gripping one type of product at a time, failing to meet the needs of production lines producing diverse products. Utility Model Content

[0003] The purpose of this utility model is to solve the problems existing in the prior art as mentioned in the background art. To achieve the above objective, this utility model adopts the following technical solution:

[0004] A gripper mechanism with vision positioning includes a connecting seat, a top plate, and an industrial camera. The connecting seat is fixedly connected to the center of the upper end of the top plate. A mounting bracket is fixedly connected to the upper end of the top plate. An industrial camera is fixedly mounted on the outside of the mounting bracket. A ring light source is also provided on the outside of the mounting bracket. Gripper bodies are movably arranged on both sides of the bottom of the top plate. An electric gripper drive end connected to the gripper body is fixedly mounted at the center of the bottom of the top plate.

[0005] Preferably, the top plate has a mounting hole at its upper end, and the mounting bracket is detachably and fixedly connected to the mounting hole by fasteners.

[0006] Preferably, the ring light source is fixedly connected to the mounting bracket via a light source holder, and the ring light source is connected to the bottom of the industrial camera.

[0007] Preferably, a movable seat is fixedly connected to the upper end of the gripper body, and a linear slide rail is fixedly connected to the bottom of the top plate, with the movable seat and the linear slide rail being in a limited sliding connection.

[0008] Preferably, the contact surface between the movable seat and the linear slide rail is designed as a smooth surface.

[0009] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0010] This invention replaces the traditional mechanical positioning method of grippers and provides a completely new positioning method. The product position is pre-positioned by a visual positioning mechanism, and then the grippers are guided to complete the grasping action. This improves product compatibility and can achieve positioning of products of various specifications and sizes. It avoids the need to adjust or replace mechanical positioning components when changing products, thus improving production efficiency. It is worthy of promotion and use in the existing market. Attached Figure Description

[0011] Figure 1 This is a first-view structural diagram of the present invention;

[0012] Figure 2 This is a schematic diagram of the second-view structure of the present invention.

[0013] In the diagram: 1-Connecting seat, 2-Top plate, 201-Mounting hole, 3-Mounting bracket, 4-Industrial camera, 5-Ring light source, 501-Light source bracket, 6-Electric gripper drive end, 7-Gripper body, 701-Moving seat, 702-Linear slide rail. Detailed Implementation

[0014] 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.

[0015] In the description of this utility model, "multiple" means two or more, unless otherwise explicitly specified.

[0016] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "sleeved / connected," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0017] 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.

[0018] Reference Figure 1-2 A vision positioning gripper mechanism includes a connecting seat 1, a top plate 2, and an industrial camera 4. The connecting seat 1 is fixedly connected to the upper center of the top plate 2. A mounting bracket 3 is fixedly connected to the upper end of the top plate 2. The industrial camera 4 is fixedly mounted on the outside of the mounting bracket 3. A ring light source 5 is also provided on the outside of the mounting bracket 3. Gripper bodies 7 are movably arranged on both sides of the bottom of the top plate 2. An electric gripper drive end 6 connected to the gripper body 7 is fixedly mounted at the center of the bottom of the top plate 2. The top plate 2 has a mounting hole 201 at its upper end, and the mounting bracket 3 is detachably fixed to the mounting hole 201 by fasteners, which facilitates the subsequent disassembly and maintenance of the mounting bracket 3 and the connected industrial camera 4. The ring light source 5 is fixedly connected to the mounting bracket 3 by the light source bracket 501 and is connected to the bottom of the industrial camera 4. The upper end of the gripper body 7 is fixedly connected to the movable seat 701, and the bottom of the top plate 2 is fixedly connected to the linear slide rail 702. The movable seat 701 and the linear slide rail 702 are connected in a limited sliding connection. The contact surface between the movable seat 701 and the linear slide rail 702 is designed with a smooth surface structure to reduce the friction of sliding.

[0019] Based on the above structure, when this device is in use, the connecting seat 1 is installed on the existing production line moving mechanism (gripper mechanism). The existing production line moving mechanism can move the connecting seat 1 and the connected structure laterally. The industrial camera 4 for vision positioning takes pictures above the product to be gripped, and the ring light source 5 provides supplementary lighting. The results of the pictures are fed back to the control system of the equipment. The control system controls the production line moving mechanism (gripper mechanism) to move and adjust the connecting seat 1 and the connected structure according to the results of the vision camera, and accurately aligns them above the product to be gripped, thereby achieving positioning. Subsequently, the electric gripper drive end 6 drives the two sets of gripper bodies 7 to slide and move relative to each other along the linear slide rail 702, thereby gripping the product. Compared with traditional mechanical positioning, the automatic positioning effect of this device is better and can meet the needs of different product production.

[0020] The above embodiments are preferred embodiments of the present utility model, but the embodiments of the present utility model are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present utility model shall be considered equivalent substitutions and shall be included within the protection scope of the present utility model.

[0021] In the description of this utility model, it should be understood that the terms indicating orientation or positional relationship are based on the orientation or positional relationship shown in the 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 element 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.

Claims

1. A visual positioning gripper mechanism comprising a connecting seat (1), a top plate (2) and an industrial camera (4), characterized in that: The connecting seat (1) is fixedly connected to the upper center of the top plate (2). The top plate (2) is fixedly connected to the mounting bracket (3). An industrial camera (4) is fixedly installed on the outside of the mounting bracket (3). A ring light source (5) is also provided on the outside of the mounting bracket (3). The gripper body (7) is movably arranged on both sides of the bottom of the top plate (2). An electric gripper drive end (6) connected to the gripper body (7) is fixedly installed at the center of the bottom of the top plate (2).

2. A gripper mechanism with visual positioning according to claim 1, characterized in that, The top plate (2) is provided with a mounting hole (201) at its upper end, and the mounting bracket (3) is detachably and fixedly connected to the mounting hole (201) by fasteners.

3. A gripper mechanism with visual positioning according to claim 2, characterized in that The ring light source (5) is fixedly connected to the mounting bracket (3) via the light source bracket (501), and the ring light source (5) is connected to the bottom of the industrial camera (4).

4. A gripper mechanism with visual positioning according to claim 3, characterized in that, The upper end of the gripper body (7) is fixedly connected to a movable seat (701), while the bottom of the top plate (2) is fixedly connected to a linear slide rail (702). The movable seat (701) and the linear slide rail (702) are connected in a limited sliding connection.

5. A gripper mechanism with visual positioning according to claim 4, characterized in that The contact surface between the movable seat (701) and the linear slide rail (702) is designed with a smooth surface structure.

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