A vision-based robotic arm gripper for inspecting double-sided panel parts

Abstract

This utility model discloses a vision-based robotic arm gripper for inspecting double-sided flat parts, including a fixed frame, a rotating mechanism, and a buffer gripper mechanism. The bottom of the fixed frame is connected to the robotic arm, and the rotating mechanism is mounted on top of it. The buffer gripper mechanism is mounted above the rotating mechanism. The rotating mechanism includes a base plate, a support frame, a bearing seat, and a rotating cylinder, which are connected to the rotating base plate via a coupling. The buffer gripper mechanism includes a dust cover, a motor, gears, a transmission rack, a guide rod, a buffer spring, a guide fixing block, and a rubber buffer block. Two motors, through the keyway cooperation between the motor shaft and the gears, drive the transmission rack to tension the guide rod and grip the part. This utility model can adapt to gripping parts of different specifications and can achieve double-sided flipping after gripping to facilitate visual inspection, while effectively preventing damage to the surface of the part.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm gripper devices, and in particular to a vision-based adjustable robotic arm gripper device. Background Technology

[0002] In modern manufacturing, double-sided shaped parts (such as PCBs, glass panels, and thin metal sheets) are widely used in various industrial fields. Traditional mechanical grippers mainly rely on fixed mechanical structures for grasping, which cannot efficiently detect and identify surface defects of parts.

[0003] A vision-based robotic arm double-sided plate-shaped part inspection gripper is a device used to clamp plate-shaped parts. It is commonly used in industrial automated production lines to clamp and release plate-shaped parts, thereby realizing the handling, inspection, and screening work on automated production lines.

[0004] Existing technologies cannot adapt to the buffer gripping of plate-shaped parts of different sizes in practical use, and cannot achieve visual inspection of both sides of plate-shaped parts. Therefore, a vision-based robotic arm double-sided plate-shaped part inspection gripper is proposed. Summary of the Invention

[0005] (a) Technical problems to be solved.

[0006] To address the problems existing in the prior art, this utility model provides a vision-based robotic arm double-panel type part inspection gripper.

[0007] (II) Technical Solution

[0008] To achieve the above objectives, this utility model provides the following technical solution: a vision-based robotic arm double-panel part inspection gripper, comprising a fixed frame, a rotating mechanism, and a buffer gripper mechanism; the bottom of the fixed frame is mounted on the outer end of the robotic arm; the rotating mechanism is mounted on the top of the fixed frame, with a base plate connected to the top of the fixed frame in the rotating mechanism; the base plate has mounting holes on both sides for symmetrically mounting two support frames, each of which mounts a rotary cylinder and a bearing seat through the holes. Couplings are mounted on the rotary cylinder and bearing seat, with positioning grooves inside the couplings; the two couplings are connected to the rotating base plate through the holes; the buffer gripper mechanism is mounted above the rotating base plate; the base plate in the rotating mechanism is connected to the dust cover of the buffer gripper mechanism through the holes; two motors are mounted above the dust cover, with gears mounted on the output ends of the motors; the gears mesh with a transmission rack, which is located above the rotating base plate and is limited by a limiting groove. The transmission racks are symmetrically arranged on both sides of the gear. The outer end of the transmission racks is provided with holes and is connected to the guide rod by a hinge. The guide rod is located in the guide fixing block, which is fixed to the rotating base plate by threads. A buffer spring is installed between the guide rod and the guide fixing block, and a rubber buffer block is installed on the outer end of the guide rod.

[0009] As a preferred embodiment of the vision-based robotic arm double-panel shaped part detection gripper described in this utility model, a buffer spring is provided between the guide rod and the guide fixing block, and a rubber buffer block is installed at the outer end of the guide rod.

[0010] In a preferred embodiment of the vision-based robotic arm double-panel part detection gripper of this utility model, the rotary cylinder and the bearing seat are connected to the rotary base plate via the coupling.

[0011] As a preferred embodiment of the vision-based robotic arm double-panel shaped part detection gripper of this utility model, the gear drives the transmission rack for transmission, and the transmission rack drives the two side guide rods to be fitted into the guide fixing block.

[0012] As a preferred embodiment of the vision-based robotic arm double-panel part detection gripper described in this utility model, the dust cover in the buffer gripper mechanism is provided with four mounting holes and installed on the rotating base plate, and the base plate below the rotating base plate has a spare groove.

[0013] As a preferred embodiment of the vision-based robotic arm double-panel part detection gripper of this utility model, the bottom end of the fixing frame is provided with an installation position to connect to the outer end of the robotic arm, and the upper part is provided with an empty space and a base plate for fixed connection.

[0014] (III) Beneficial Effects

[0015] This invention provides a vision-based robotic arm gripper for inspecting double-sided panel parts. It offers the following advantages.

[0016] 1. This application utilizes a fixed frame, a rotating mechanism, and a buffer gripper mechanism to mount onto the outer end of a robotic arm. An industrial camera identifies the dimensions of the plate-shaped part being gripped, allowing for adjustment of the buffer gripper mechanism for appropriate gripping. The rotating mechanism flips the part, and the industrial camera identifies defects on both sides, ensuring part quality.

[0017] 2. This application uses the buffer spring in the buffer gripper mechanism and the rubber buffer block installed at the outer end of the guide rod to protect relatively fragile objects and prevent damage to the surface during the gripping process. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments 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.

[0019] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0020] Figure 2 This is a schematic diagram of the rotating mechanism of this utility model.

[0021] Figure 3 This is an enlarged view of the structure of the buffer clamp of this utility model.

[0022] In the diagram, 1 is the fixed frame; 2 is the rotating mechanism; 201 is the support frame; 202 is the bearing seat; 203 is the coupling; 204 is the rotating base plate; 205 is the base plate; 206 is the rotating cylinder; 3 is the buffer gripper mechanism; 301 is the guide rod; 302 is the buffer spring; 303 is the guide fixing block; 304 is the rubber buffer block; 305 is the transmission rack; 306 is the gear; 307 is the dust cover; and 308 is the motor. Detailed Implementation

[0023] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention.

[0024] Reference Figure 1 , Figure 2 , Figure 3 This embodiment provides a vision-based robotic arm double-sided panel part detection gripper, including a fixed frame 1, a rotating mechanism 2, and a buffer gripper mechanism 3.

[0025] Specifically, the bottom of the fixed frame 1 is connected to the outer end of the robotic arm. The top of the fixed frame 1 has four protruding brackets, which are connected to the rotating mechanism 2 by threads.

[0026] The rotating mechanism 2 includes: a support frame 201, a bearing seat 202, a coupling 203, a rotating base plate 204, a base plate 205, and a rotating cylinder 206.

[0027] The three sections of the fixing frame are connected to the base plate 205 in the rotating mechanism 2 through threaded holes, serving a fixing function. Support frames 201 are symmetrically installed on the left and right sides of the base plate 205 via threaded connections. Figure 2 As shown, a bearing seat 202 is installed on the support frame 201, and a rotary cylinder 206 is installed on the support frame 201. The bearing seat 202 and the rotary cylinder 206 are connected to the rotating base plate 204 located in the middle position through a coupling 203.

[0028] In the rotating mechanism 2, the base plate 205 has a larger slot than the rotating base plate 204. This allows the rotating base plate 204 to flip around the bearing seat 202, the rotating cylinder 206, and the coupling 203 as its axes.

[0029] The rotary cylinder 206 in the rotary mechanism 2 provides power to the rotary mechanism 2, and the bearing housing 202 and the rotary cylinder 206 provide support at both ends.

[0030] A buffer gripper mechanism 3 is installed on the rotating base plate 204 in the rotating mechanism 2.

[0031] The rotating mechanism 2 drives the buffer gripper mechanism 3 to flip the parts on both sides.

[0032] An industrial camera mounted on a robotic arm is responsible for extracting images of both sides of the part for inspection.

[0033] The buffer gripper mechanism 3 includes: a guide rod 301, a buffer spring 302, a guide fixing block 303, a rubber buffer block 304, a transmission rack 305, a gear 306, a dust cover 307, and a motor 308.

[0034] Two motors 308 are symmetrically mounted above the dust cover 307, and two gears 306 are mounted below the dust cover 307. The two motors 308 are connected to the two gears 306 via motor output shafts, with a hole-shaft fit between the motor output shafts and gears 306. The gears 306 mesh with two transmission racks 305, providing power to the mechanism. The four transmission racks 305 are symmetrically arranged, with one pair on each side. Guide rods 301 are hinged to the two transmission racks 305. The two guide rods 301 are symmetrically arranged, and the two symmetrically arranged motors 308 drive the guide rods 301 on both sides to maintain the same direction of movement through the gears 306 and transmission racks 305. A buffer spring 302 is installed in the middle of the guide rod 331, which acts as a buffer when clamping parts. A rubber buffer block 304 is installed at the other end of the guide rod 301 through the guide fixing block 303, and the entire mechanism is placed above the rotating base plate 305.

[0035] The motor 308 drives the rubber buffer block 304 to move inward together, thereby clamping the parts. When the motor 308 changes its rotation direction, it drives the rubber buffer block 304 to move outward together, thus releasing the parts.

Claims

1. A vision-based robotic arm gripper for inspecting double-sided panel parts, characterized in that, The system includes a fixed frame (1), a rotating mechanism (2), and a buffer gripper mechanism (3). The bottom of the fixed frame (1) is connected to the outer end of the robotic arm via a thread. The rotating mechanism (2) is installed above the fixed frame (1) to flip the gripped parts. The buffer gripper mechanism (3) is installed above the rotating mechanism (2). The rotating mechanism (2) includes a base plate (205) directly mounted above the fixed frame (1). Support frames (201) are symmetrically mounted on both sides of the base plate (205) via threaded connections. The two support frames are respectively mounted with bearing seats (202) and rotary cylinders (206). The rotating base plate (204) is connected to the bearing seats (202) and rotary cylinders (206) via two couplings (203). The buffer gripper mechanism (3) includes the rotating base plate (205) which provides support. 04), a dust cover (307) is installed and fixed on the top of the rotating base plate (204) by a threaded connection. Two motors (308) are symmetrically installed on the top of the dust cover (307). The two motors (308) are connected to two gears (306) by a hole shaft through the motor output shaft. The gears (306) mesh with the transmission rack (305). The transmission rack (305) is connected to the guide rod (301) by a hinge. Six guide fixing blocks (303) are fixedly installed on the top of the rotating base plate (204) to guide the guide fixing blocks (303). A buffer spring (302) is installed between the guide rod (301) and the guide fixing block (303) to buffer. A rubber buffer block (304) is installed on the outside of the guide rod (301) by a threaded connection.

2. The dual-sided panel inspection gripper of claim 1, wherein: A buffer spring (302) is installed between the guide rod (301) and the guide fixing block (303) in the buffer gripper mechanism (3), which has a buffering effect on the gripping of parts.

3. The dual-sided panel inspection gripper of claim 1, wherein: The rotating mechanism (2) can drive the plate-shaped parts gripped by the buffer gripper mechanism (3) to flip over.

4. The dual-sided panel inspection gripper of claim 1, wherein: The two gears (306) drive the transmission rack (305), and through the guide fixing block (303), drive the rubber buffer block (304) installed on the outside of the two guide rods (301) to always move in the same direction.

5. The dual-sided panel inspection gripper of claim 1, wherein: The part to be clamped is extracted by an industrial camera, so that the buffer gripper mechanism can be adjusted to an appropriate size to clamp plate-shaped parts of different sizes.

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