Visual guidance arc surface positioning robot gripper

Abstract

The utility model discloses a visual guidance arc surface positioning robot clamp jaw, including clamp jaw air cylinder, the top of clamp jaw air cylinder is installed with robot flange plate, the clamp jaw of clamp jaw air cylinder is installed with clamp jaw support, and the horizontal frame of horizontal extension and the arm support of vertical extension have to clamp jaw support, and the horizontal frame is connected with the clamp jaw, and the outer side wall on arm support is installed with arc locating block, and the outer side wall on arc locating block is equipped with arc surface, and the arc surface of arc locating block is matched with the arc surface of cylinder hole, and the bottom of arc locating block still is installed with reverse buckle locating block, and reverse buckle locating block can insert into cylinder hole with arm support, and the one end of reverse buckle locating block protrudes arc locating block away from arm support. The utility model has the beneficial effects that: through clamp jaw support, smaller cylinder can also produce greater force, adopt the matching arc positioning, and then make the contact area of arc locating block and cylinder hole be big, therefore, the positioning is stable when grabbing and placing material, and the workpiece will not fall and damage.

Description

Technical Field

[0001] This utility model relates to the gripping of engine cylinder blocks, and in particular to a vision-guided arc-shaped surface positioning robot gripper. Background Technology

[0002] Most vision-guided positioning stations lack workpiece positioning devices. The correctness of workpiece gripping relies entirely on the coordinate compensation of the vision camera. Because the camera is greatly affected by light and the condition of the recognition surface, it often grips the workpiece at an off-center position. This causes the robot to deviate from the machine or damage the workpiece when loading it onto the equipment fixture. For the clamping method inside the hole, the ordinary "Π-shaped gripper" has insufficient clamping force and is prone to deformation, often causing the workpiece to fall. Moreover, the contact area with the arc surface during operation is small, and the workpiece is easy to wobble on the robot gripper. In addition, the arc-shaped positioning block is not wear-resistant and needs to be replaced and the robot loading and unloading points need to be readjusted after a period of use. Utility Model Content

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a vision-guided arc-shaped surface positioning robot gripper.

[0004] The purpose of this utility model is achieved through the following technical solution: a vision-guided arc-shaped surface positioning robot gripper, including a gripper cylinder, a robot flange plate installed on the top of the gripper cylinder, a gripper bracket installed on the gripper of the gripper cylinder, the gripper bracket having a horizontally extending horizontal frame and a vertically extending arm, the horizontal frame being connected to the gripper, an arc-shaped positioning block installed on the outer wall of the arm, the outer wall of the arc-shaped positioning block having an arc surface, the arc surface of the arc-shaped positioning block matching the arc surface of the cylinder hole, a reverse-locking positioning block also installed at the bottom of the arc-shaped positioning block, and the reverse-locking positioning block being inserted into the cylinder hole along with the arm, the end of the reverse-locking positioning block away from the arm protruding from the arc-shaped positioning block.

[0005] Optionally, the arc-shaped positioning block has at least three countersunk holes along the horizontal direction, and the arc-shaped positioning block is locked to the boom by screws installed in the countersunk holes.

[0006] Optionally, the bottom of the arc-shaped positioning block is flush with the bottom of the boom, and the arc-shaped positioning block and the reverse-locking positioning block are locked together by screws.

[0007] Optionally, the arc-shaped positioning block is made of No. 45 steel, and the arc surface of the arc-shaped positioning block has a wear-resistant layer.

[0008] Optionally, ribs are provided between the horizontal frame and the boom.

[0009] This utility model has the following advantages:

[0010] 1. The visually guided arc-shaped positioning robot gripper of this utility model, through the "┏┓" shaped gripper bracket, can generate a large force with a small cylinder. Therefore, in a limited space, a smaller cylinder can be selected, which makes installation more convenient and less likely to interfere during use.

[0011] 2. The use of matching arc positioning results in a large contact area between the arc positioning block and the cylinder bore. Therefore, the positioning is stable during material handling and unloading, and it is less likely to cause collisions when loading and unloading the equipment, preventing the workpiece from falling and getting damaged. Attached Figure Description

[0012] Figure 1 This is a structural schematic diagram of the present invention.

[0013] Figure 2 A schematic diagram of the arc-shaped positioning block.

[0014] Figure 3 A schematic diagram of the reverse-locking positioning block.

[0015] In the diagram, 1-gripper cylinder, 2-gripper bracket, 3-arc-shaped positioning block, 4-reverse positioning block, 5-robot flange plate, 6-countersunk hole, 7-step. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can typically be arranged and designed in various different configurations.

[0017] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0018] It should be noted that, where there is no conflict, the embodiments and features in the embodiments of this utility model can be combined with each other.

[0019] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0020] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use, or the orientation or positional relationship commonly understood by those skilled in the art. They are only used for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0021] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of 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.

[0022] like Figure 1 As shown, a vision-guided arc-shaped surface positioning robot gripper includes a gripper cylinder 1, which is a commercially available product. A robot flange plate 5 is mounted on the top of the gripper cylinder 1. During installation, the robot gripper is mounted on the robot arm via the robot flange plate. A gripper bracket 2 is mounted on the gripper of the gripper cylinder 1. When the gripper cylinder 1 operates, the gripper bracket 2 moves relative to or away from the gripper. In this embodiment, the gripper bracket 2 has a horizontally extending horizontal frame and a vertically extending arm. Therefore, the gripper between the horizontal frame and the arm... The angle is 90°, meaning that the gripper bracket 2 is a "┏┓" shaped bracket. Therefore, a smaller cylinder can generate a larger force. Thus, within the limited space of the robotic arm, a smaller cylinder can be used, making the gripper cylinder 1 easier to install and less likely to interfere with other components during use, thereby ensuring the reliability of the robot gripper. In this embodiment, the horizontal frame is connected to the gripper, that is, the horizontal frame is connected to the piston rod of the gripper cylinder 1. Preferably, the piston rod of the gripper cylinder 1 and the horizontal frame are detachably connected by screws.

[0023] In this embodiment, as Figure 1 As shown, an arc-shaped positioning block 3 is installed on the outer wall of the boom. The outer wall of the arc-shaped positioning block 3 has an arc surface. A reverse-locking positioning block 4 is also installed at the bottom of the arc-shaped positioning block 3. The reverse-locking positioning block 4 can be inserted into the cylinder bore along with the boom. One end of the reverse-locking positioning block 4, away from the boom, protrudes from the arc-shaped positioning block 3. In this embodiment, as shown... Figure 3 As shown, the reverse positioning block 4 is block-shaped with at least two through holes and a wedge-shaped surface at its front end. The dimensions of the arc-shaped positioning block 3, the boom, and the reverse positioning block 4 are all determined by the cylinder bore. That is, when the boom is inserted into the cylinder bore, the boom can carry the arc-shaped positioning block 3 and the reverse positioning block 4 into the cylinder bore, and the boom, the arc-shaped positioning block 3, and the reverse positioning block 4 will not interfere with the cylinder bore. The end of the reverse positioning block 4 away from the boom protrudes from the arc-shaped positioning block 3. Therefore, a step 7 will be formed between the reverse positioning block 4 and the arc-shaped positioning block 3. During the clamping and moving process, the step 7 will support the cylinder body, thereby preventing the cylinder body from falling.

[0024] In this embodiment, as Figure 2 As shown, the arc-shaped positioning block 3 has at least three countersunk holes 6 along the horizontal direction. The arc-shaped positioning block 3 is locked to the boom by screws installed in the countersunk holes 6. The screws are located in the countersunk holes 6, so that the screws will not affect the tight fit between the arc surface of the arc-shaped positioning block 3 and the cylinder bore.

[0025] In this embodiment, the bottom of the arc-shaped positioning block 3 is flush with the bottom of the boom, and the arc-shaped positioning block 3 and the reverse-locking positioning block 4 are locked together by screws, which makes it easy to disassemble and assemble the arc-shaped positioning block 3. Of course, the arc-shaped positioning block 3 and the reverse-locking positioning block 4 can also be replaced according to the size of the cylinder bore.

[0026] In this embodiment, the arc-shaped positioning block 3 is made of 45 steel, and the arc surface of the arc-shaped positioning block 3 has a wear-resistant layer, thereby ensuring the service life of the arc-shaped positioning block 3 and thus ensuring the reliability of the robot gripper.

[0027] In this embodiment, a rib is provided between the horizontal frame and the boom, thereby ensuring the stability of the included angle between the horizontal frame and the boom, and thus ensuring the reliability of the fit between the arc surface and the cylinder bore arc surface, which in turn ensures the reliability of the robot gripper clamping the cylinder.

[0028] In this embodiment, the arc surface of the arc-shaped positioning block 3 matches the arc surface of the cylinder bore. That is to say, when the robot gripper clamps the cylinder, the arc surface of the arc-shaped positioning block 3 fits into the arc surface of the cylinder bore, which is a surface-to-surface fit. The contact area is large, the arc surface of the arc-shaped positioning block 3 is not easy to wear, and has a long service life. Moreover, after the cylinder is clamped, the cylinder will not wobble left and right or back and forth, thus ensuring the reliability of the cylinder clamping.

[0029] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A vision-guided arc-shaped surface positioning robot gripper, characterized in that: The device includes a gripper cylinder with a robot flange plate mounted on its top. A gripper bracket is mounted on the gripper of the gripper cylinder. The gripper bracket has a horizontally extending frame and a vertically extending arm. The horizontal frame is connected to the gripper. An arc-shaped positioning block is mounted on the outer wall of the arm. The outer wall of the arc-shaped positioning block has an arc surface that matches the arc surface of the cylinder bore. A reverse-locking positioning block is also mounted on the bottom of the arc-shaped positioning block. The reverse-locking positioning block can be inserted into the cylinder bore along with the arm. One end of the reverse-locking positioning block away from the arm protrudes from the arc-shaped positioning block.

2. The visually guided arc-shaped surface positioning robot gripper according to claim 1, characterized in that: The arc-shaped positioning block has at least three countersunk holes along the horizontal direction, and the arc-shaped positioning block is locked to the boom by screws installed in the countersunk holes.

3. The visually guided arc-shaped surface positioning robot gripper according to claim 2, characterized in that: The bottom of the arc-shaped positioning block is flush with the bottom of the boom, and the arc-shaped positioning block and the reverse-locking positioning block are locked together by screws.

4. The vision-guided arc-shaped surface positioning robot gripper according to claim 3, characterized in that: The arc-shaped positioning block is made of 45 steel, and the arc surface of the arc-shaped positioning block has a wear-resistant layer.

5. The visually guided arc-shaped surface positioning robot gripper according to claim 4, characterized in that: A rib is provided between the horizontal frame and the boom.

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