Workpiece gripping device based on visual positioning

Abstract

The utility model discloses a workpiece grabbing device based on visual positioning is installed on four -axis robot, including visual positioning mechanism and grabbing mechanism, and visual positioning mechanism and grabbing mechanism are connected through connecting piece with the axle of four -axis robot, and the axle position is on the gravity center vertical line of visual positioning mechanism and grabbing mechanism, visual positioning mechanism includes industry camera, telecentric lens, annular light source, and telecentric lens is connected through screw thread with industry camera, and annular light source is set up in telecentric lens one end through connecting piece, and grabbing mechanism includes motor, transmission mechanism, two oppositely arranged clamping jaws, and the clamping area is formed between two oppositely arranged clamping jaws, and the output shaft of motor is connected with clamping jaw through transmission mechanism. The utility model is applicable to the transfer process of production model size numerous, batch small change type frequency height and need disorder precision grabbing, can improve production efficiency greatly.

Description

Technical Field

[0001] This utility model relates to the field of vision positioning and grasping mechanism technology, and in particular to a workpiece grasping device based on vision positioning. Background Technology

[0002] With the development of modern industries and manufacturing sectors such as photovoltaic lithium batteries and new energy vehicles, automation is gradually expanding from downstream module assembly to upstream component production, transportation, and testing. This presents significant challenges, especially for irregularly shaped, multi-sized precision workpieces that must be protected from impacts, magnetic / electric attraction, and disordered placement, making workpiece transportation extremely difficult.

[0003] In the existing technology, there are many devices that can achieve fixed gripping, and there are also many gripping devices that can achieve gripping of the same size. However, there is no ideal solution in the existing technology for achieving disordered gripping of irregular precision workpieces of various sizes. Summary of the Invention

[0004] To address the aforementioned problems, the purpose of this invention is to provide a vision-based workpiece gripping device capable of randomly gripping irregular precision parts of various sizes.

[0005] To achieve the above-mentioned objectives, the present invention adopts the following technical solution: A vision-based workpiece gripping device, mounted on a four-axis robot, includes a vision positioning mechanism and a gripping mechanism. The vision positioning mechanism and the gripping mechanism are connected to one axis of the four-axis robot via a connector, and the axis is located on the vertical line between the centers of gravity of the vision positioning mechanism and the gripping mechanism. The vision positioning mechanism includes an industrial camera, a telecentric lens, and a ring light source. The telecentric lens is threadedly connected to the industrial camera, and the ring light source is located at one end of the telecentric lens via a connector. The gripping mechanism includes a motor, a transmission mechanism, and two opposing grippers, forming a gripping area between the two opposing grippers. The output shaft of the motor is connected to the grippers via the transmission mechanism.

[0006] Furthermore, the clamping surface of the aforementioned grippers is provided with a soft silicone pad.

[0007] Due to the adoption of the technical solution described above, this utility model has the following advantages: This utility model relates to a workpiece gripping device based on vision positioning. Its structure is rationally designed and easy to operate. It combines a precise, distortion-free vision positioning mechanism with a gripping mechanism, satisfying both the need for disordered gripping of irregular precision parts and adapting to changes in various sizes. Specifically designed for disordered gripping of irregular precision parts of multiple sizes in industrial applications, it eliminates the need for orderly part arrangement during loading and for hardware and program changes when switching specifications and sizes. It is suitable for transport processes involving numerous production models and sizes, small batches, high changeover frequencies, and the requirement for disordered precision gripping, significantly improving production efficiency. Attached Figure Description

[0008] Figure 1 This is a schematic diagram of the workpiece gripping device based on vision positioning according to this utility model; Figure 2 yes Figure 1 A magnified structural diagram of part A in the diagram; In the diagram: 1 - Four-axis robot; 2 - Axis; 3 - Motor; 4 - Gripper; 5 - Ring light source; 6 - Telecentric lens; 7 - Industrial camera. Detailed Implementation

[0009] The technical solution of this utility model will be further described in detail below with reference to the accompanying drawings and embodiments.

[0010] like Figure 1 , 2As shown, this vision-based workpiece gripping device is mounted on a four-axis robot 1. The four-axis robot can move in four directions: X, Y, Z (translation) and A (rotation). It precisely guides the vision positioning mechanism and gripping mechanism to the workpiece coordinates. The robot's movement enables the transfer of the workpiece between different positions. The device includes a vision positioning mechanism and a gripping mechanism, which are connected to one axis 2 of the four-axis robot via a connector. This axis 2 is positioned on the vertical line between the centers of gravity of the vision positioning mechanism and the gripping mechanism, preventing wobbling and damage to the axis when the four-axis robot moves / rotates the vision positioning mechanism and gripping mechanism. The vision positioning mechanism includes an industrial camera 7, a telecentric lens 6, and a ring light source 5. The industrial camera is a CCD / CMOS sensor camera used to convert light signals into digital signals, displaying the target object, i.e., the wheel of an irregular precision part. The telecentric lens, through its telecentric optical path design, ensures that the magnification of the image remains constant within a certain object distance range, and provides a wider depth of field, resulting in clearer and more accurate imaging of the contours of irregular precision parts onto the CCD / CMOS sensor. The ring light source avoids shadows caused by diagonal illumination, thus better highlighting the three-dimensional information of the object. When used at the correct distance, it provides uniform illumination, offering clearer and sharper lighting for capturing the contours of irregular precision parts. The telecentric lens is threadedly connected to the industrial camera, and the ring light source is positioned at one end of the telecentric lens via a connector. The gripping mechanism includes a motor 3, a transmission mechanism, and two opposing grippers 4. A gripping area is formed between the two opposing grippers. The motor's output shaft is connected to the grippers through the transmission mechanism. The motor rotates according to controller signal commands to drive the opening and closing of the two grippers, applying pressure to the workpiece to achieve gripping.

[0011] The clamping surface of the aforementioned gripper 4 is provided with a soft silicone pad, which is non-slip and does not easily damage the workpiece.

[0012] During operation, the four-axis robot 1 first moves the vision positioning mechanism to a predetermined height (working distance) above the area to be transferred. The vision positioning mechanism takes a picture of the area to be transferred, identifies the precise and clear outline of the workpiece within the area, calculates its coordinates, and transmits the coordinates back to the four-axis robot. Through the rotation and differential movement of the four-axis robot, the gripper 4 is moved to the accurate gripping position, which is the center of the workpiece within the area to be transferred. Then, the motor 3 controls the opening and closing of the two grippers through the transmission mechanism to grip the workpiece. This coordinate is then transmitted to the gripping system. Through the rotation and differential movement of the four-axis robot, the gripper in the gripping system is moved to grip the center of the workpiece within the area to be transferred. Finally, the four-axis robot and the motor work together to place the workpiece into the predetermined position of the next workstation, thus completing one random precision transfer.

[0013] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A workpiece gripping device based on vision positioning, characterized in that: It is mounted on a four-axis robot and includes a vision positioning mechanism and a gripping mechanism. The vision positioning mechanism and the gripping mechanism are connected to one axis of the four-axis robot through a connector, and the axis is located on the vertical line of the center of gravity of the vision positioning mechanism and the gripping mechanism. The vision positioning mechanism includes an industrial camera, a telecentric lens, and a ring light source. The telecentric lens is connected to the industrial camera through a thread, and the ring light source is set at one end of the telecentric lens through a connector. The gripping mechanism includes a motor, a transmission mechanism, and two opposing grippers. A gripping area is formed between the two opposing grippers, and the output shaft of the motor is connected to the grippers through the transmission mechanism.

2. The workpiece gripping device based on vision positioning according to claim 1, characterized in that: The gripping surface of the gripper is provided with a soft silicone pad.

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