An AI vision-guided mechanical arm quick-change clamp device

Abstract

The utility model belongs to industrial robot field, specifically disclose a kind of quick-change fixture device of mechanical arm based on AI vision guidance, including quick-change main disc and quick-change tool disc, still include: movable setting in the fixed frame of the connecting flange, and movable setting in the visual positioning mechanism of the fixed frame front end;The visual positioning mechanism includes movable setting in the movable frame of fixed frame, rotating driving part one is arranged on the movable frame, visual positioning piece is movably arranged on the both sides of the movable frame, and the input end of visual positioning piece is provided with rotating driving part two;The utility model can be multiple degrees of freedom movable visual positioning mechanism, visual positioning piece can be flexibly moved to the area between quick-change main disc and quick-change tool disc, and adjust to the best observation posture perpendicular to the butt joint plane of both, to obtain high-quality image without perspective distortion, provide accurate data for AI vision algorithm, improve positioning accuracy.

Description

Technical Field

[0001] This utility model belongs to the field of industrial robots, specifically relating to a quick-change gripper device for a robotic arm based on AI vision guidance. Background Technology

[0002] Quick-change gripper devices for robotic arms are key equipment in modern intelligent manufacturing and flexible production lines. They allow the end effector of a robotic arm to quickly and automatically change different tools (such as grippers, suction cups, welding guns, etc.), thus adapting to multi-variety, small-batch production tasks. Existing quick-change devices typically consist of a quick-change master plate mounted at the end effector of the robotic arm and a quick-change tool plate mounted on the tool, with the connection and separation of the two achieved through a pneumatic or electric locking mechanism.

[0003] These traditional quick-change devices rely heavily on the repeatability of the robotic arm and the preset position accuracy of the tool tray in the tool magazine. In practical applications, the tool tray may deviate from its theoretical storage position due to factors such as human placement errors, mechanical wear caused by long-term use, or environmental vibrations.

[0004] However, the current common practice is to fix the visual positioning device (such as a camera) to the side of the quick-change master plate. This arrangement has obvious drawbacks: First, due to the tilted viewing angle, it is difficult for the visual positioning device to capture images perpendicular to the docking plane of the quick-change master plate and the quick-change tool plate at the same time, resulting in perspective distortion in the image and reducing the accuracy of pose calculation. Utility Model Content

[0005] The purpose of this invention is to provide a quick-change gripper device for robotic arms based on AI vision guidance, in order to solve the problems of low measurement accuracy and inability to adjust caused by the tilt of the viewing angle in traditional side-mounted fixed vision systems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A quick-change gripper device for a robotic arm based on AI vision guidance includes a quick-change main plate and a quick-change tool plate, and a connecting flange disposed on the quick-change main plate. It also includes a fixed frame movably disposed on the connecting flange, and a vision positioning mechanism movably disposed at the front end of the fixed frame.

[0008] The visual positioning mechanism includes a movable frame movably mounted on a fixed frame. A first rotary drive component is mounted on the movable frame. The output shaft of the first rotary drive component is fixedly connected to the fixed frame. Visual positioning components are movably mounted on both sides of the movable frame. Protective pads are movably mounted on both sides of the movable frame at the front end of the visual positioning components. A second rotary drive component is mounted at the input end of the visual positioning components.

[0009] Preferably, the lower surface of the quick-change master disk and the upper surface of the quick-change tool disk are provided with a number of corresponding positioning marks.

[0010] Preferably, the fixing frame and the connecting flange are connected by a bearing, and the bearing is provided with a collar, and the collar is threaded with a limit bolt.

[0011] Preferably, the second rotary drive component includes a second transmission disk disposed on a visual positioning component on the side of the fixed frame, a first transmission disk disposed on the fixed frame, a transmission belt connecting the first transmission disk and the second transmission disk, the first transmission disk being located on the rotation axis of the movable frame, and gears being disposed on both visual positioning components, the two gears meshing with each other.

[0012] Preferably, the movable frame is provided with a sleeve, the sleeve is telescopically connected to the protective pad, and an elastic element is provided between the protective pad and the sleeve.

[0013] Preferably, the outer edge of the vision positioning element lens is provided with an elastic ring.

[0014] Compared with the prior art, the beneficial effects of this utility model are:

[0015] This invention utilizes a multi-degree-of-freedom visual positioning mechanism. Driven by the movable and fixed frames, the visual positioning component can flexibly move to the area between the quick-change main plate and the quick-change tool plate, and adjust to the optimal observation posture perpendicular to the plane where the two plates meet. This allows for the acquisition of high-quality images without perspective distortion, providing accurate data for AI vision algorithms and fundamentally improving positioning accuracy.

[0016] The visual positioning mechanism of this utility model has a retractable function. When visual positioning is not required, the entire visual positioning mechanism can drive the movable frame and visual positioning component to rotate and retract, moving away from the docking area under the quick-change main plate, leaving sufficient and unobstructed installation and working space for the common media interface, thus improving the space utilization and compatibility of the quick-change device. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of 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. Among them:

[0018] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0019] Figure 2 This is a schematic diagram of the visual positioning mechanism of this utility model;

[0020] Figure 3 This is a schematic diagram of the movable frame structure of this utility model;

[0021] Figure 4 This is a schematic diagram of the protective pad structure of this utility model.

[0022] In the diagram: 1. Quick-change main plate; 2. Quick-change tool plate; 3. Connecting flange; 4. Fixing bracket; 401. Bearing; 402. Collar; 403. Limit bolt; 5. Movable frame; 6. Vision positioning component; 7. Rotary drive component one; 8. Rotary drive component two; 801. Transmission plate one; 802. Transmission belt; 803. Transmission plate two; 804. Gear; 9. Protective pad; 901. Elastic ring; 902. Sleeve; 903. Elastic component; 10. Positioning mark. Detailed Implementation

[0023] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0024] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0025] Secondly, the term "an embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that excludes other embodiments.

[0026] As attached Figure 1 To be continued Figure 4 As shown:

[0027] Example 1: This example provides a quick-change gripper device for a robotic arm based on AI vision guidance, including a quick-change main plate 1 and a quick-change tool plate 2, and a connecting flange 3 disposed on the quick-change main plate 1, and further including: a fixed frame 4 movably disposed on the connecting flange 3, and a vision positioning mechanism movably disposed at the front end of the fixed frame 4.

[0028] The visual positioning mechanism includes a movable frame 5 movably mounted on a fixed frame 4. A rotary drive component 7 is mounted on the movable frame 5. The output shaft of the rotary drive component 7 is fixedly connected to the fixed frame 4. Visual positioning components 6 are movably mounted on both sides of the movable frame 5. Protective pads 9 are movably mounted on both sides of the movable frame 5 at the front end of the visual positioning component 6. A rotary drive component 8 is mounted on the input end of the visual positioning component 6.

[0029] Specifically, the lower surface of the quick-change master disk 1 and the upper surface of the quick-change tool disk 2 are both provided with several corresponding positioning marks 10.

[0030] Specifically, the fixed bracket 4 and the connecting flange 3 are connected by a bearing 401. The bearing 401 is provided with a collar 402, and the collar 402 is threaded with a limit bolt 403.

[0031] Both the fixed frame 4 and the movable frame 5 are L-shaped.

[0032] As can be seen from the above, the visual positioning mechanism achieves two levels of rotational freedom through the fixed frame 4 and the movable frame 5. The fixed frame 4 can rotate relative to the connecting flange 3, and the movable frame 5 can rotate relative to the fixed frame 4, which allows the visual positioning component 6 to obtain a very large range of motion;

[0033] The quick-change main plate 1 is connected to the robotic arm via the connecting flange 3. The selected drive component 7 and rotary drive component 8 are, but not limited to, motors and servos.

[0034] During operation, the robotic arm carries the entire device (including the quick-change main tray 1 and the vision system) to the vicinity of the tool magazine. At this time, the control system, according to the instructions, activates rotary drive component 1 7 and rotary drive component 2 8 to drive the movable frame 5 and the vision positioning component 6 to rotate, adjusting them to the optimal observation posture to cover the expected storage area of ​​the quick-change tool tray 2. Specifically, rotary drive component 1 7 rotates and adjusts the movable frame 5 together with the vision positioning component 6 to the bottom of the quick-change main tray 1, located between the quick-change main tray 1 and the quick-change tool tray 2. Then, rotary drive component 2 8 drives the vision positioning component 6 to rotate on the movable frame 5 until the two vision positioning components 6 are perpendicular to the quick-change main tray 1 and the quick-change tool tray 2, respectively.

[0035] The visual positioning component 6, i.e., the industrial camera, begins capturing images. The system performs stereo vision calculations or relative pose calculations by identifying the corresponding positioning marks 10 set on the lower surface of the quick-change master disk 1 and the upper surface of the quick-change tool disk 2. Since there are two visual positioning components 6, a binocular vision system can be formed, thereby more accurately and reliably calculating the position (X, Y, Z) and attitude (yaw, pitch, roll angle) deviations of the quick-change tool disk 2 relative to the quick-change master disk 1 in three-dimensional space.

[0036] After receiving the pose deviation data provided by the vision system, the robotic arm control system drives the robotic arm body to perform corresponding translational and rotational fine adjustments, so that the quick-change main plate 1 and the quick-change tool plate 2 achieve a precise alignment. The vision positioning mechanism can be retracted to a non-working posture by the drive component to avoid interference in subsequent operations. Subsequently, the clamping and locking mechanism inside the quick-change main plate 1 (which is common knowledge in the field, such as the start-up locking mechanism of the Hashida QT-650 product) is activated to complete the locking with the quick-change tool plate 2 and the connection with the medium (such as air or electricity).

[0037] The fixed frame 4 rotates on the connecting flange 3 via the bearing 401. The position of the vision positioning component 6 can be adjusted according to the number and location of the common media interfaces used to avoid conflict. The movable frame 5 makes the vision positioning component 6 located in the middle position before the quick-change main plate 1 and quick-change tool plate 2 are connected, so as to accurately collect image information for positioning. After completion, it is moved to the side to avoid affecting the docking. It is suitable for complex scenarios where the tool plate storage position is not unique or there is a large initial deviation.

[0038] Example 2: This example is basically the same as the previous example, except that the rotation drive component 2 8 includes a transmission disk 2 803 disposed on the visual positioning component 6 on the side of the fixed frame 4, and a transmission disk 1 801 disposed on the fixed frame 4. A transmission belt 802 is provided between the transmission disk 1 801 and the transmission disk 2 803. The transmission disk 1 801 is located on the rotation axis of the movable frame 5. Gears 804 are provided on both visual positioning components 6, and the two gears 804 mesh with each other.

[0039] From the above, we can see that

[0040] When the rotary drive component 7 is activated, it causes the movable frame 5 to rotate relative to the fixed frame 4. Since the transmission disc 801 is fixedly mounted on the fixed frame 4, it does not rotate with the movable frame 5. Therefore, with the movable frame 5 as the frame of reference, when the movable frame 5 rotates, the transmission disc 801 rotates in the opposite direction relative to the movable frame 5. This relative motion is the fundamental power source for driving the rotation of the vision positioning component 6.

[0041] The relative rotation of transmission disc 1 801 is transmitted to transmission disc 2 803 via transmission belt 802. Transmission disc 2 803 is connected to the input shaft of a vision positioning element 6. The rotation of transmission disc 2 803 is further transmitted to another vision positioning element 6 via a pair of meshing gears 804, ensuring that the two vision positioning elements 6 always rotate synchronously and symmetrically in opposite directions.

[0042] By controlling the diameter ratio (transmission ratio) of transmission disk 1 (801) and transmission disk 2 (803), the proportional relationship between the rotation angle of the movable frame 5 and the rotation angle of the vision positioning component 6 can be precisely set. For example, when the transmission ratio is set to 1:4, a 360-degree rotation of the movable frame 5 will drive the vision positioning component 6 to rotate 90 degrees. Thus, when the movable frame 5 rotates from the outside to the inside of the fixed frame 4, positioning the vision positioning component 6 between the quick-change main plate 1 and the quick-change tool plate 2, the two vision positioning components 6 will be perpendicular to the quick-change main plate 1 and the quick-change tool plate 2 respectively to achieve data acquisition and positioning. When the robotic arm completes the posture adjustment and rotates the movable frame 5 back to its original position, the vision positioning component 6 will automatically face the protective pad 9, parallel to the movable frame 5, reducing the occupied area while protecting the lens.

[0043] Using only one electrical drive structure, the rotary drive component 7, the synchronous adjustment of the movable frame 5 and the vision positioning component 6 is achieved by controlling the forward and reverse rotation of the rotary drive component 7. This eliminates the need for complex control algorithms, reducing costs, errors, and delays.

[0044] Example 3: This example is basically the same as the previous example, except that a sleeve 902 is provided on the movable frame 5, the sleeve 902 is telescopically connected to the protective pad 9, and an elastic element 903 (spring) is provided between the protective pad 9 and the sleeve 902.

[0045] Specifically, the outer edge of the vision positioning component 6 lens is provided with an elastic ring 901 (rubber ring).

[0046] As can be seen from the above, when the visual positioning component 6 is parallel to the movable frame 5 and facing the protective pad 9 after the work is completed, the protective pad 9 (rubber pad) will be pushed away by the elastic component 903 to avoid blocking the rotation trajectory of the visual positioning component 6. When the visual positioning component 6 is perpendicular to the protective pad 9, the protective pad 9 will be pushed by the elastic component 903 and fit with the elastic ring 901 to provide full protection for the lens.

[0047] It should be understood that numerous specific implementation decisions can be made during the development of any practical implementation, such as in any engineering or design project. Such development efforts may be complex and time-consuming, but for those skilled in the art who benefit from this disclosure, the development effort will be a routine work of design, manufacturing, and production without requiring much experimentation.

[0048] It should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of the technical solution of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A quick-change gripper device for a robotic arm based on AI vision guidance, comprising a quick-change main plate (1) and a quick-change tool plate (2), and a connecting flange (3) disposed on the quick-change main plate (1), characterized in that, Also includes: A mounting bracket (4) is movably mounted on the connecting flange (3), and a visual positioning mechanism is movably mounted at the front end of the mounting bracket (4); The visual positioning mechanism includes a movable frame (5) movably mounted on a fixed frame (4), a first rotary drive component (7) is mounted on the movable frame (5), the output shaft of the first rotary drive component (7) is fixedly connected to the fixed frame (4), visual positioning components (6) are movably mounted on both sides of the movable frame (5), protective pads (9) are movably mounted on both sides of the movable frame (5) at the front end of the visual positioning component (6), and a second rotary drive component (8) is mounted at the input end of the visual positioning component (6).

2. The quick-change gripper device for a robotic arm based on AI vision guidance according to claim 1, characterized in that, The lower surface of the quick-change master disk (1) and the upper surface of the quick-change tool disk (2) are both provided with several corresponding positioning marks (10).

3. The AI ​​vision-guided quick-change gripper device for robotic arms according to claim 1, characterized in that, The fixed frame (4) is connected to the connecting flange (3) by a bearing (401). A collar (402) is provided on the bearing (401), and a limit bolt (403) is threaded on the collar (402).

4. The AI ​​vision-guided quick-change gripper device for robotic arms according to claim 1, characterized in that, The second rotating drive component (8) includes a second transmission disk (803) disposed on a visual positioning component (6) on the side of the fixed frame (4) and a first transmission disk (801) disposed on the fixed frame (4). A transmission belt (802) is provided between the first transmission disk (801) and the second transmission disk (803). The first transmission disk (801) is located on the rotation axis of the movable frame (5). Gears (804) are provided on both visual positioning components (6), and the two gears (804) mesh with each other.

5. The AI ​​vision-guided quick-change gripper device for robotic arms according to claim 1, characterized in that, The movable frame (5) is provided with a sleeve (902), the sleeve (902) is telescopically connected to the protective pad (9), and an elastic element (903) is provided between the protective pad (9) and the sleeve (902).

6. The quick-change gripper device for a robotic arm based on AI vision guidance according to claim 1, characterized in that, The outer edge of the lens of the visual positioning component (6) is provided with an elastic ring (901).

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