An assembly device for vision positioning of an industrial robot

Abstract

This utility model relates to an assembly device for visual positioning of industrial robots, including a base, a base plate, and a vision sensor. The base plate is mounted on the base via a swing assembly, and the vision sensor is fixed on the base plate. It also includes two grippers and a tray. The two grippers are horizontally slidably mounted on the base plate and connected to a clamping assembly mounted on the base plate. The tray is mounted on the base plate via a linkage assembly. A drive mechanism is mounted on the base plate, and the drive mechanism is connected to both the clamping assembly and the linkage assembly. In this utility model, the grippers first achieve precise positioning and self-locking with a constant clamping force. Then, the tray is inserted diagonally upwards into the bottom of the grippers, forming a dual constraint of lateral clamping and bottom lifting, completely eliminating the risk of slippage and drop of objects during handling or assembly. The same drive mechanism sequentially triggers the clamping assembly and the linkage assembly, requiring no additional power source; the tray movement is completed solely through mechanical linkage, resulting in reduced overall energy consumption and shorter cycle time.

Description

Technical Field

[0001] This utility model relates to the field of assembly equipment technology, specifically an assembly device for industrial robot vision positioning. Background Technology

[0002] With the rapid evolution of industries such as 3C, new energy, and auto parts towards multi-variety, small-batch, and flexible manufacturing, industrial robots have upgraded from simple point-to-point handling to high-end applications such as online assembly and precision alignment. Visual positioning technology, due to its non-contact and highly flexible characteristics, has become the core means for robot end effectors to achieve "hand-eye coordination." However, existing technologies still reveal the following pain points in actual assembly scenarios: Traditional solutions often use two- or three-finger grippers to hold the workpiece laterally. When the workpiece surface has a coating, oil film, or complex shape, the coefficient of friction is significantly reduced, making it easy for it to slip or even fall during robot acceleration, deceleration, or flipping. If the gripping force is increased to avoid slippage, it is easy to cause scratches or deformation on the surface of brittle, thin-walled, or high-gloss parts, making it difficult to guarantee the yield rate.

[0003] In order to simultaneously achieve functions such as clamping, bottoming, and posture adjustment, some devices are equipped with a separate motor or cylinder for each action unit, resulting in large end-effector mass, numerous cables, high energy consumption, slow cycle time, and complex control logic, which contradicts the industry's demand for lightweight and high-speed operation. Utility Model Content

[0004] The purpose of this invention is to provide an assembly device for visual positioning of industrial robots to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: An assembly device for visual positioning of an industrial robot includes a base, a base plate, and a vision sensor. The base plate is mounted on the base via a swing assembly, and the vision sensor is fixed on the base plate. It also includes two grippers and a tray. The two grippers are horizontally slidably disposed on the base plate and connected to a clamping assembly disposed on the base plate. The tray is disposed on the base plate via a linkage assembly. A driving mechanism is provided on the substrate. The driving mechanism is connected to the clamping assembly and the linkage assembly respectively. When the vision sensor detects that the object is located between the two grippers, the driving mechanism will start to operate. The clamping assembly will first drive the two grippers to move closer to each other to clamp and fix the object and keep it stationary. Under the condition that the clamping force remains unchanged, the linkage assembly will drive the tray to move obliquely upward to the bottom of the two grippers to support and protect the object.

[0006] As a further embodiment of this utility model: The clamping assembly includes a bidirectional lead screw that is horizontally rotatably mounted on the base plate and two connecting seats respectively mounted on the two grippers; Both of the connecting seats are threaded into the bidirectional lead screw, and a first bevel gear is coaxially mounted on the bidirectional lead screw.

[0007] As a further improvement of this utility model: The linkage component includes a slanted slide rail, a threaded rod, and a bracket, with the slanted slide rail disposed on the base plate; The threaded rod is horizontally rotatably mounted on the base plate, and the bracket is threadedly engaged with the threaded rod.

[0008] As a further improvement of this utility model: A vertical rod is vertically installed on the top of the pallet, and the top of the vertical rod is slidably mounted on the inclined slide rail; The bracket is provided with a sliding sleeve, which is slidably fitted onto the outer wall of the vertical rod, and a No. 1 gear is coaxially provided on the threaded rod.

[0009] As a further improvement of this utility model: The swing assembly includes a first swing arm and a second swing arm. One end of the first swing arm and one end of the second swing arm are rotatably connected. The other end of the second swing arm is rotatably connected to the base. The other end of the first swing arm is fixedly connected to the substrate. The second swing arm is equipped with a first motor, the output end of which is fixedly connected to one end of the first swing arm. The base is equipped with a second motor, the output end of which is fixedly connected to the other end of the second swing arm.

[0010] As a further improvement of this utility model: The driving mechanism includes a first rotating rod, a second rotating rod, and an electric push rod. The first rotating rod and the second rotating rod are respectively horizontally rotatably mounted on the base plate, and the electric push rod is fixed to the first swing arm. A second bevel gear, which meshes with the first bevel gear, is coaxially mounted on the first rotating rod, and a second gear, which meshes with the first gear, is coaxially mounted on the second rotating rod.

[0011] As a further improvement of this utility model: The drive mechanism also includes a movable plate, a first sleeve and a second sleeve respectively fixed on the movable plate; The movable plate is horizontally slidably disposed on the base plate, and the output end of the electric push rod is fixedly connected to the movable plate. The first sleeve and the second sleeve are slidably sleeved on the outer walls of the first rotating rod and the second rotating rod, respectively.

[0012] As a further improvement of this utility model: The outer wall of the first rotating rod is provided with a first spiral groove and a first straight groove along its length. The first spiral groove and the first straight groove are interconnected. The inner wall of the first sleeve is fitted with a first ball, which is also fitted into the first spiral groove. The outer wall of the second rotating rod is provided with a second straight groove and a second spiral groove along its length. The second straight groove and the second spiral groove are interconnected. The inner wall of the second sleeve is fitted with a second ball bearing, which is also fitted into the second straight groove. When the first ball slides from the first spiral groove into the first straight groove, the second ball also slides from the second straight groove into the second spiral groove at the same time.

[0013] Compared with the prior art, the beneficial effects of this utility model are: The gripper first completes precise positioning and self-locking with constant clamping force. Then, the support plate is inserted into the bottom of the gripper at an angle, forming a dual constraint of lateral clamping and bottom lifting, which completely eliminates the risk of slippage and falling of the object during handling or assembly. It is especially suitable for workpieces with fragile surfaces, complex shapes or high center of gravity. The same drive mechanism triggers the clamping and linkage components in sequence, requiring no additional power source. The pallet action is completed only through mechanical linkage, resulting in reduced overall energy consumption and shorter cycle time. The base plate is connected to the base via a swing assembly, which allows for slight angle adjustments at the robot's wrist to compensate for workpiece material errors or robot positioning errors, ensuring that the vision sensor is always in the optimal imaging pose and further improving positioning accuracy. Attached Figure Description

[0014] Figure 1 A schematic diagram of the overall structure of an assembly device for visual positioning of industrial robots, according to one embodiment.

[0015] Figure 2 A schematic diagram of the overall structure from another perspective of one embodiment of an assembly device for visual positioning of industrial robots.

[0016] Figure 3 for Figure 2 Enlarged view of point A in the middle.

[0017] Figure 4 A cross-sectional view of a base plate, a movable plate, a first sleeve, and a second sleeve in one embodiment of an assembly device for visual positioning of an industrial robot.

[0018] Figure 5 for Figure 4 Enlarged view of section B in the middle.

[0019] Figure 6 for Figure 4 Enlarged view of point C in the middle.

[0020] Figure 7 A schematic diagram showing the partial drive mechanism in one embodiment of an assembly device for visual positioning of industrial robots.

[0021] In the diagram: 1. Base; 2. Base plate; 3. Vision sensor; 4. Gripper; 5. Support plate; 6. Bidirectional lead screw; 7. Connecting seat; 8. Bevel gear No. 1; 9. Slanted slide rail; 10. Threaded rod; 11. Bracket; 12. Vertical rod; 13. Sliding sleeve; 14. Gear No. 1; 15. Swing arm No. 1; 16. Swing arm No. 2; 17. Motor No. 1; 18. Motor No. 2; 19. Rotating rod No. 1; 1901. Spiral groove No. 1; 1902. Straight groove No. 1; 20. Rotating rod No. 2; 2001. Straight groove No. 2; 2002. Spiral groove No. 2; 21. Electric push rod; 22. Bevel gear No. 2; 23. Gear No. 2; 24. Moving plate; 25. Sleeve No. 1; 26. Sleeve No. 2; 27. Ball bearing No. 1; 28. Ball bearing No. 2. Detailed Implementation

[0022] 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 some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] Furthermore, the elements in this invention are referred to as being "fixed to" or "set on" another element, which may be directly on the other element or may also include an intervening element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or may also include an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0024] Please see Figures 1-7 In this embodiment of the present invention, an assembly device for visual positioning of an industrial robot includes a base 1, a base plate 2 and a vision sensor 3. The base plate 2 is mounted on the base 1 via a swing assembly, and the vision sensor 3 is fixed on the base plate 2. It also includes two grippers 4 and a tray 5. The two grippers 4 are horizontally slidably disposed on the base plate 2 and connected to the clamping assembly disposed on the base plate 2; the tray 5 is disposed on the base plate 2 through a linkage assembly. A driving mechanism is provided on the substrate 2. The driving mechanism is connected to the clamping assembly and the linkage assembly respectively. When the vision sensor 3 detects that the object is located between the two grippers 4, the driving mechanism will start to run. The clamping assembly will first drive the two grippers 4 to move closer to each other to clamp and fix the object and keep it stationary. Under the condition that the clamping force remains unchanged, the linkage assembly will drive the support plate 5 to move obliquely upward to the bottom of the two grippers 4 to support and protect the object.

[0025] In this scheme, the vision sensor 3 performs real-time identification and pose calculation of objects entering its field of view. When it is determined that the object is located between the two grippers 4 and meets the grasping conditions, it sends a start signal to the drive mechanism. The drive mechanism first acts on the clamping component, causing the two grippers 4 to move synchronously towards each other along the horizontal slide rail of the substrate 2, gradually approaching the object; when the grippers 4 contact the object and reach the preset clamping force, the clamping component stops running, the grippers 4 remain stationary, and the clamping force remains constant. At this point, the linkage component will start to operate, causing the pallet 5 to first move diagonally upward to the bottom of the two grippers 4, and finally form support with the lower surface of the object, achieving dual constraints of lateral clamping and bottom lifting; throughout the process, the clamping force remains unchanged, ensuring that the object does not slip or deform, and completing a safe and reliable gripping cycle.

[0026] As a further embodiment of this utility model, the clamping assembly includes a bidirectional lead screw 6 that is horizontally rotatably mounted on the base plate 2 and two connecting seats 7 respectively mounted on the two grippers 4; Both connecting seats 7 are threadedly engaged with the bidirectional lead screw 6, and a first bevel gear 8 is coaxially mounted on the bidirectional lead screw 6.

[0027] In this embodiment, when the first bevel gear 8 starts to rotate under the drive of the drive mechanism, its torque is first fully received by the coaxially fixed bidirectional lead screw 6. Since the two threads of the bidirectional lead screw 6 have opposite directions of rotation and equal pitch, the two threads form symmetrical helical pairs with the two connecting seats 7 respectively. Therefore, as the lead screw rotates continuously, the two connecting seats 7 are forced to make synchronous, equal speed, opposite or opposite linear movements on the horizontal slide rail of the base plate 2. Since the connecting seats 7 are rigidly fixed to the gripper 4, the gripper 4 moves closer or further away synchronously to realize the clamping or release of the object. The whole process accurately and symmetrically converts the rotational motion of the drive mechanism into the horizontal clamping motion of the gripper 4, and the clamping force can be precisely controlled by the lead screw lead and the drive torque.

[0028] As a further embodiment of this utility model, the linkage component includes an inclined slide rail 9, a threaded rod 10, and a bracket 11, wherein the inclined slide rail 9 is disposed on the base plate 2. The threaded rod 10 is horizontally rotatably mounted on the base plate 2, and the bracket 11 is threadedly engaged with the threaded rod 10. A vertical rod 12 is vertically provided on the top of the pallet 5, and the top of the vertical rod 12 is slidably mounted on the inclined slide rail 9; The bracket 11 is provided with a sliding sleeve 13, and the sliding sleeve 13 is slidably sleeved on the outer wall of the vertical rod 12. A first gear 14 is coaxially provided on the threaded rod 10.

[0029] In this embodiment, when the first gear 14 starts to rotate under the drive mechanism, the threaded rod 10, which is coaxially fixed to it, rotates synchronously. Since the bracket 11 and the threaded rod 10 are threadedly engaged and cannot rotate due to the restriction of the base plate 2, the bracket 11 is forced to move linearly along the axial direction of the threaded rod 10. When the bracket 11 moves, it drives the vertical rod 12 to move synchronously through the fixed sliding sleeve 13. The top of the vertical rod 12 can only slide in the inclined groove of the inclined slide rail 9. Therefore, the movement of the vertical rod 12 is decomposed into an inclined displacement along the direction of the inclined slide rail 9. Since the support plate 5 is rigidly fixed to the vertical rod 12, the support plate 5 moves as a whole along the inclined upward to the bottom of the two grippers 4 to complete the bottoming action. When the first gear 14 is rotated in the opposite direction, the support plate 5 retracts along the inclined downward, realizing a closed-loop movement of linkage bottoming or retraction.

[0030] As a further embodiment of the present invention, the swing assembly includes a first swing arm 15 and a second swing arm 16. One end of the first swing arm 15 and one end of the second swing arm 16 are rotatably connected. The other end of the second swing arm 16 is rotatably connected to the base 1. The other end of the first swing arm 15 is fixedly connected to the substrate 2. A first motor 17 is provided on the second swing arm 16, and the output end of the first motor 17 is fixedly connected to one end of the first swing arm 15. A second motor 18 is provided on the base 1, and the output end of the second motor 18 is fixedly connected to the other end of the second swing arm 16.

[0031] In this embodiment, the base 1 is fixed and serves as the absolute reference for the entire kinematic chain. After the second motor 18 is powered on, its output directly drives the second swing arm 16 to perform a "first-level rotation" around the rotation axis on the base 1, which determines the large range of azimuth angles of the overall swing. The first motor 17 is mounted on the second swing arm 16 and moves together with the second swing arm 16. When the first motor 17 is powered on, its output drives the first swing arm 15 to perform a "second-level rotation" around the rotation axis on the second swing arm 16, thereby achieving fine angle compensation and attitude fine-tuning. The base plate 2 is rigidly connected to the first swing arm 15. Therefore, the superposition of the two-stage rotation enables the base plate 2, together with all the components such as the vision sensor 3, gripper 4, and tray 5 on it, to achieve composite two-dimensional swing. This allows the vision optical axis and gripping posture to be adjusted independently without moving the robot wrist, thereby quickly compensating for workpiece incoming material errors or optimizing the imaging angle.

[0032] As a further embodiment of this utility model, the driving mechanism includes a first rotating rod 19, a second rotating rod 20 and an electric push rod 21. The first rotating rod 19 and the second rotating rod 20 are respectively horizontally rotatably mounted on the base plate 2, and the electric push rod 21 is fixed on the first swing arm 15. A second bevel gear 22, which meshes with the first bevel gear 8, is coaxially arranged on the first rotating rod 19; a second gear 23, which meshes with the first gear 14, is coaxially arranged on the second rotating rod 20. The drive mechanism also includes a movable plate 24, a first sleeve 25 and a second sleeve 26 respectively fixed on the movable plate 24; The movable plate 24 is horizontally slidably disposed on the base plate 2, and the output end of the electric push rod 21 is fixedly connected to the movable plate 24. The first sleeve 25 and the second sleeve 26 are respectively slidably sleeved on the outer walls of the first rotating rod 19 and the second rotating rod 20. The outer wall of the first rotating rod 19 is provided with a first spiral groove 1901 and a first straight groove 1902 along its length direction. The first spiral groove 1901 and the first straight groove 1902 are interconnected. The inner wall of the first sleeve 25 is fitted with a first ball 27, which is also fitted into the first spiral groove 1901. The outer wall of the second rotating rod 20 is provided with a second straight groove 2001 and a second spiral groove 2002 along its length direction. The second straight groove 2001 and the second spiral groove 2002 are interconnected. The inner wall of the second sleeve 26 is fitted with a second ball bearing 28, which is also fitted into the second straight groove 2001. When the first ball 27 slides from the first spiral groove 1901 into the first straight groove 1902, the second ball 28 also slides from the second straight groove 2001 into the second spiral groove 2002 at the same time.

[0033] In this embodiment, the electric push rod 21 is fixed on the first swing arm 15, and its output end is fixedly connected to the moving plate 24; when the push rod extends outward, the moving plate 24 moves forward along the horizontal slide rail of the base plate 2, driving the first sleeve 25 and the second sleeve 26 to move synchronously. At this time, the first ball bearing 27 is located in the first spiral groove 1901, while the second ball bearing 28 is located in the second straight groove 2001. The forward movement of the moving plate 24 causes the first sleeve 25 to apply a tangential force to the first spiral groove 1901 through the first ball bearing 27, forcing the first rotating rod 19 to rotate. The second bevel gear 22 on the first rotating rod 19 meshes with the first bevel gear 8, driving the bidirectional lead screw 6 to rotate, and the two grippers 4 clamp the object inward. When the clamping force reaches the set value, the first ball bearing 27 just slides to the end of the first spiral groove 1901 and enters the first straight groove 1902. At this time, the first spiral groove 1901 no longer provides a rotational component, the first rotating rod 19 stops rotating, the clamping action is completed and self-holding is achieved. Almost simultaneously, the second ball bearing 28 slides from the second straight groove 2001 into the second spiral groove 2002; the moving plate 24 continues to move in the same direction, and the second sleeve 26 generates a tangential force on the second spiral groove 2002 through the second ball bearing 28, forcing the second rotating rod 20 to rotate; the second gear 23 on the second rotating rod 20 meshes with the first gear 14, driving the threaded rod 10 to rotate, and the bracket 11, the sliding sleeve 13, and the vertical rod 12 work together to move the support plate 5 obliquely upward along the inclined slide rail 9 to the bottom of the two grippers 4, completing the bottom support protection.

[0034] It will be apparent to those skilled in the art that this invention 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 essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0035] 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. An assembly for vision positioning of an industrial robot, comprising a base (1), a base plate (2) and a vision sensor (3), characterized in that, The substrate (2) is mounted on the base (1) via a swing assembly, and the vision sensor (3) is fixed on the substrate (2); It also includes two grippers (4) and a tray (5). The two grippers (4) are horizontally slidably disposed on the substrate (2) and connected to the clamping assembly disposed on the substrate (2). The tray (5) is disposed on the substrate (2) through a linkage assembly. A driving mechanism is provided on the substrate (2). The driving mechanism is connected to the clamping assembly and the linkage assembly respectively. When the vision sensor (3) detects that the object is located between the two grippers (4), the driving mechanism will start to run. The clamping assembly will first drive the two grippers (4) to move closer to each other to clamp and fix the object and keep it stationary. Under the condition that the clamping force remains unchanged, the linkage assembly will drive the tray (5) to move obliquely upward to the bottom of the two grippers (4) to support and protect the object.

2. An assembly for vision positioning of an industrial robot according to claim 1, characterized in that The clamping assembly includes a bidirectional lead screw (6) that is horizontally rotatably mounted on the base plate (2) and two connecting seats (7) respectively mounted on the two jaws (4). Both of the connecting seats (7) are threadedly engaged with the bidirectional lead screw (6), and a first bevel gear (8) is coaxially arranged on the bidirectional lead screw (6).

3. An assembly for vision positioning of an industrial robot according to claim 2, characterized in that The linkage component includes a slanted slide rail (9), a threaded rod (10), and a bracket (11), wherein the slanted slide rail (9) is disposed on the base plate (2); The threaded rod (10) is horizontally rotatably mounted on the base plate (2), and the bracket (11) is threadedly engaged with the threaded rod (10).

4. An assembly for vision positioning of an industrial robot according to claim 3, characterized in that The top of the tray (5) is vertically provided with a vertical rod (12), and the top of the vertical rod (12) is slidably provided on the inclined slide rail (9); The bracket (11) is provided with a sliding sleeve (13), and the sliding sleeve (13) is slidably sleeved on the outer wall of the vertical rod (12). A first gear (14) is coaxially provided on the threaded rod (10).

5. An assembly for vision positioning of an industrial robot according to claim 4, characterized in that The swing assembly includes a first swing arm (15) and a second swing arm (16). One end of the first swing arm (15) and one end of the second swing arm (16) are rotatably connected. The other end of the second swing arm (16) is rotatably connected to the base (1). The other end of the first swing arm (15) is fixedly connected to the base plate (2). A first motor (17) is provided on the second swing arm (16), and the output end of the first motor (17) is fixedly connected to one end of the first swing arm (15). A second motor (18) is provided on the base (1), and the output end of the second motor (18) is fixedly connected to the other end of the second swing arm (16).

6. An assembly for vision positioning of an industrial robot according to claim 5, characterized in that The driving mechanism includes a first rotating rod (19), a second rotating rod (20), and an electric push rod (21). The first rotating rod (19) and the second rotating rod (20) are respectively horizontally rotatably mounted on the base plate (2), and the electric push rod (21) is fixed on the first swing arm (15). A second bevel gear (22) is coaxially arranged on the first rotating rod (19) and meshes with the first bevel gear (8). A second gear (23) is coaxially arranged on the second rotating rod (20) and meshes with the first gear (14).

7. An assembly for vision positioning of an industrial robot according to claim 6, characterized in that The driving mechanism also includes a movable plate (24), a first sleeve (25) and a second sleeve (26) respectively fixed on the movable plate (24); The movable plate (24) is horizontally slidably disposed on the base plate (2), and the output end of the electric push rod (21) is fixedly connected to the movable plate (24). The first sleeve (25) and the second sleeve (26) are respectively slidably disposed on the outer walls of the first rotating rod (19) and the second rotating rod (20).

8. An assembly for vision positioning of an industrial robot according to claim 7, characterized in that The outer wall of the first rotating rod (19) is provided with a first spiral groove (1901) and a first straight groove (1902) along its length direction. The first spiral groove (1901) and the first straight groove (1902) are interconnected. The inner wall of the first sleeve (25) is fitted with a first ball (27), and the first ball (27) is also fitted with the first spiral groove (1901). The outer wall of the second rotating rod (20) is provided with a second straight groove (2001) and a second spiral groove (2002) along its length direction. The second straight groove (2001) and the second spiral groove (2002) are interconnected. The inner wall of the second sleeve (26) is fitted with a second ball (28), which is also fitted in the second straight groove (2001). When the first ball (27) slides from the first spiral groove (1901) into the first straight groove (1902), the second ball (28) also slides from the second straight groove (2001) into the second spiral groove (2002) at the same time.

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