Industrial robot vision aid for workpiece positioning

Abstract

The utility model provides a kind of industrial robot vision auxiliary equipment for workpiece positioning belongs to industrial robot vision auxiliary equipment technical field, its structure includes mechanical arm body, and mechanical arm body tail end is provided with gripper, and the swing of gripper is provided with vision auxiliary equipment, this vision auxiliary equipment has to camera transverse distance and angle adjustment double function, and camera can follow gripper synchronous swing direction, so that gripper when grabbing workpiece, camera will not be blocked by workpiece, it is convenient to operate mechanical arm body to workpiece accurate positioning and discharging, and practicality is strong.

Description

Technical Field

[0001] This utility model relates to a vision-assisted device for industrial robotic arms used for workpiece positioning, and belongs to the technical field of vision-assisted devices for industrial robotic arms. Background Technology

[0002] Currently, robotic arms used in industry are mainly used for gripping objects. Specifically, the free end of the robotic arm extends into a curved gripping block, and the object is clamped by the contact between at least two gripping blocks and the object.

[0003] However, existing vision assistance devices on industrial robotic arms are generally just simple fixed cameras. When the gripper on the robotic arm is clamping a workpiece, the camera's vision is often obstructed by the workpiece due to its different specifications and structure. When the robotic arm moves the workpiece to another location for positioning and placement, inaccurate positioning problems can easily occur. In order to address the above problems, this utility model proposes an industrial robotic arm vision assistance device for workpiece positioning. Utility Model Content

[0004] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide an industrial robotic arm vision-assisted device for workpiece positioning, so as to solve the existing problems.

[0005] To achieve the above objectives, this utility model is implemented through the following technical solution: an industrial robotic arm vision assistance device for workpiece positioning, the structure of which includes a robotic arm body, a gripper is provided at the tail end of the robotic arm body, and a vision assistance device is provided at the swinging part of the gripper. The gripper, the vision assistance device and the robotic arm body are electrically connected. The vision assistance device includes an L-shaped arm, and a telescopic outer tube is provided laterally at the top of the L-shaped arm. A telescopic inner tube is fixedly sleeved on the left side of the telescopic outer tube by a first positioning pin. An angle adjustment seat is provided at the tail of the left side of the telescopic inner tube, and a camera is provided on the bottom surface of the angle adjustment seat.

[0006] The angle adjustment seat includes a fixed seat assembly, and a movable seat assembly is sleeved on the front side of the fixed seat assembly. The front side of the fixed seat assembly and the rear side of the movable seat assembly are magnetically connected to each other, and the two are fixed and adjusted by a second positioning pin.

[0007] A further improvement is that the left end of the telescopic outer tube has a first perforation.

[0008] A further improvement is that the telescopic inner tube includes an L-shaped tube, and the transverse tube of the L-shaped tube is provided with a plurality of adjustable screw holes spaced apart, and the longitudinal tube of the L-shaped tube is provided with a fixed seat at the tail end.

[0009] A further improvement is that the fixed seat assembly includes a fixed seat body, and a sleeve and bearing are longitudinally arranged in the middle of the front side of the fixed seat body, and a magnet plate is sleeved around the front side of the fixed seat body. Multiple directional screw holes are opened in a circular array around the fixed seat body.

[0010] A further improvement is that the movable seat assembly includes a movable seat body, and the movable seat body has a through hole in the middle for bearing assembly, and a second through hole aligned with each adjusting screw hole is also through the movable seat body. The movable seat body is made of iron.

[0011] Further improvements are made to the fact that the robotic arm body, gripper, and camera are all based on existing technologies, and their structures will not be described in detail here.

[0012] A further improvement is that the other end of the camera is electrically connected to a display screen, which is fixedly mounted on the operating end of the robotic arm body.

[0013] The beneficial effects of the utility model are:

[0014] This utility model provides a vision assistance device for industrial robotic arms used for workpiece positioning. The device, consisting of an L-shaped arm, a telescopic outer tube, a telescopic inner tube, a first positioning pin, an angle adjustment seat, and a camera, is structurally combined with a gripper and the robotic arm body to form a vision assistance device for workpiece positioning. This device has dual functions of lateral distance adjustment and angle adjustment for the camera, and the camera can synchronously swing with the gripper, ensuring that the camera is not obstructed by the workpiece when the gripper is grasping it. This facilitates precise positioning and placement of the workpiece by the robotic arm body, making it highly practical. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of an industrial robotic arm vision-assisted device for workpiece positioning according to the present invention.

[0016] Figure 2 This is a schematic diagram of the structure of the visual aid device of this utility model;

[0017] Figure 3 This is a schematic diagram of the installation of the L-shaped arm of this utility model on the gripper;

[0018] Figure 4 This is a schematic diagram of the angle adjustment seat structure of this utility model;

[0019] Figure 5 This is a schematic diagram of the telescopic outer tube and telescopic inner tube of this utility model;

[0020] Figure 6 This is a schematic diagram of the movable seat assembly structure of this utility model;

[0021] Figure 7 This is a schematic diagram of the fixed seat assembly structure of this utility model. Detailed Implementation

[0022] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0023] Please see Figure 1-7 This utility model discloses a schematic diagram of a vision-assisted device for workpiece positioning in an industrial robotic arm. The device comprises a robotic arm body 1, with a gripper 2 at its tail end and a vision-assisted device 3 at the swinging point of the gripper 2. The gripper 2 and the vision-assisted device 3 are electrically connected to the robotic arm body 1. The vision-assisted device 3 includes an L-shaped arm 31, with a telescopic outer tube 32 laterally positioned at the top of the L-shaped arm 31. A telescopic inner tube 33 is fixedly fitted onto the left side of the telescopic outer tube 32 via a first positioning pin 34. An angle adjustment seat 35 is located at the tail of the left side of the telescopic inner tube 33. A camera 36 is mounted on the bottom surface of the angle adjustment seat 35. The angle adjustment seat 35 includes a fixed seat assembly 351, with a movable seat assembly 352 fitted onto the front side of the fixed seat assembly 351. The front side of the fixed seat assembly 351 and the rear side of the movable seat assembly 352 are magnetically connected and their angles are fixed and adjusted via a second positioning pin 353.

[0024] The telescopic outer tube 32 has a first perforation 321 at its left end.

[0025] The telescopic inner tube 33 includes an L-shaped tube 331, and a plurality of adjustable screw holes 332 are spaced apart on the transverse tube body of the L-shaped tube 331, and a fixed seat 333 is provided at the longitudinal tube tail of the L-shaped tube 331.

[0026] The fixed base assembly 351 includes a fixed base body 3511, and a sleeve post 3512 and a bearing 3513 are longitudinally arranged in the middle of the front side of the fixed base body 3511. A magnet plate 3514 is sleeved around the front side of the fixed base body 3511, and multiple directional screw holes 3515 are opened in a ring array around the fixed base body 3511.

[0027] The movable seat assembly 352 includes a movable seat body 3521, and the movable seat body 3521 has a through hole 3522 for mounting the bearing 3513 through the middle, and a second through hole 3523 aligned with each adjusting screw hole 3515 through the movable seat body 3521. The movable seat body 3521 is made of iron.

[0028] Working principle:

[0029] Before use, the lateral distance and angle of the camera 36 on the vision aid device 3 need to be adjusted according to the size and structure of the workpiece. When adjusting the lateral distance between the camera 36 and the gripper 2, first unscrew the first positioning pin 34, then pull the telescopic inner tube 33 onto the telescopic outer tube 32 to adjust the distance. Then, lock the first positioning pin 34 back into an adjustment screw hole 332 aligned with the first through hole 321 for fixation. Then, adjust the angle of the camera 36. First, remove the second positioning pin 353, then rotate the movable seat body 3521. Because the movable seat body 3521 is magnetically connected to the magnet plate 3514, releasing the movable seat body 3521 will not cause it to swing downwards from the fixed seat group 351. This makes it convenient for the staff to check whether the adjustment is in place at the display screen. Finally, lock the second positioning pin 353 into an adjustment screw hole 3515 aligned with the second through hole 3523 to fix the movable seat body 3521.

[0030] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. It will be apparent to those skilled in the art that this utility model is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or basic characteristics of this utility model. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of this utility model is defined by the appended claims rather than the foregoing description, and thus all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this utility model. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0031] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A vision-assisted device for industrial robotic arm positioning, comprising a robotic arm body, wherein a gripper is provided at the tail end of the robotic arm body, and a vision-assisted device is provided at the swinging part of the gripper, wherein the gripper, the vision-assisted device, and the robotic arm body are electrically connected, characterized in that: The visual aid device includes an L-shaped arm, and a telescopic outer tube is horizontally arranged at the top of the L-shaped arm. A telescopic inner tube is fixedly sleeved on the left side of the telescopic outer tube by a first positioning pin. An angle adjustment seat is arranged at the left tail of the telescopic inner tube, and a camera is arranged on the bottom surface of the angle adjustment seat. The angle adjustment seat includes a fixed seat assembly, and a movable seat assembly is sleeved on the front side of the fixed seat assembly. The front side of the fixed seat assembly and the rear side of the movable seat assembly are magnetically connected to each other, and the two are fixed and adjusted by a second positioning pin.

2. The industrial robotic arm vision-assisted device for workpiece positioning according to claim 1, characterized in that: The telescopic outer tube has a first perforation at its left end.

3. The industrial robotic arm vision-assisted device for workpiece positioning according to claim 2, characterized in that: The telescopic inner tube includes an L-shaped tube, and multiple adjustable screw holes are spaced apart on the transverse tube body of the L-shaped tube, and a fixed seat is provided at the tail of the longitudinal tube body of the L-shaped tube.

4. The industrial robotic arm vision-assisted device for workpiece positioning according to claim 3, characterized in that: The fixed base assembly includes a fixed base body, and a sleeve and bearing are longitudinally arranged in the middle of the front side of the fixed base body. A magnet plate is sleeved around the periphery of the front side of the fixed base body, and multiple directional screw holes are opened in a circular array around the periphery of the fixed base body.

5. The industrial robotic arm vision-assisted device for workpiece positioning according to claim 4, characterized in that: The movable seat assembly includes a movable seat body, and the movable seat body has a through hole in the middle for bearing assembly, and a second through hole aligned with each adjusting screw hole. The movable seat body is made of iron.

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