Adjustable distance laser ranging and photographing hand

Abstract

The utility model discloses a laser ranging and photographing hand claw of adjustable spacing, including with the base connecting plate of robot arm end connection, set in the two lift air cylinders of base connecting plate below, and respectively through vacuum block and lift air cylinder telescopic pole lower extreme connection's vacuum chuck subassembly, the front side department of base connecting plate is provided with camera module through camera connecting plate, vacuum chuck subassembly includes with vacuum block connection's sucking disc fixed plate and sets up a plurality of vacuum chuck in sucking disc fixed plate below, be provided with laser ranging sensor for detecting the distance between vacuum chuck and the workpiece to be grabbed on sucking disc fixed plate, vacuum chuck is connected with vacuum block through pipeline respectively, vacuum block is connected with the vacuum generator that sets up on base connecting plate through pipeline respectively.

Description

Technical Field

[0001] This utility model belongs to the field of interdisciplinary technology of photoelectric measurement and mechanical automation, and specifically relates to an adjustable-spacing laser rangefinder for taking pictures. Background Technology

[0002] With the continuous improvement of industrial automation, robots are increasingly widely used in modern manufacturing. The robot's end effector—the gripper—is a key component for grasping and manipulating objects. Traditional robot grippers typically only have simple grasping and placement functions, which are gradually failing to meet the demands of high-precision, adaptive operations. For example, in many complex applications, such as flexible and rapid production switchover for small-batch, multi-variety products and precision assembly, precise positioning and dimensional measurement of the workpiece are required simultaneously with grasping to ensure operational accuracy and quality. Most general-purpose gripping devices typically rely on programs or external positioning systems, lacking the ability to autonomously adapt to changes in the working environment. When facing objects with uncertain positions or complex shapes, these devices often require complex teaching processes or precise external positioning, severely limiting their application prospects in flexible manufacturing.

[0003] The main problems with this technology at present include:

[0004] Limited functionality: Most existing laser rangefinders focus solely on distance measurement, operating independently of the grasping mechanism and thus failing to form an effective linkage. This separation of measurement and operation leads to low operational efficiency.

[0005] Poor environmental adaptability: When the object being measured is far away or the lighting is poor, existing rangefinders have difficulty accurately measuring the object and lack the ability to adapt to complex working environments.

[0006] Inconvenient to operate: Traditional equipment relies heavily on manual operation, which cannot meet the needs of automated processes, and its use is greatly limited when the measurement points are difficult to reach by hand.

[0007] Accuracy and stability issues: In complex working environments, the gripping action of the hand may cause vibration, affecting measurement accuracy; at the same time, changes in ambient light and reflections on the workpiece surface can also interfere with the stability of visual and laser measurements.

[0008] Therefore, developing a laser rangefinder and camera gripper that integrates high-precision ranging, visual recognition, and flexible grasping functions, while also being environmentally adaptable and easy to operate, has become a key issue that urgently needs to be addressed in this field. Utility Model Content

[0009] The purpose of this invention is to address the shortcomings of the existing technology by providing a laser rangefinder and camera gripper that integrates laser distance measurement, image and information acquisition, gripper spacing adjustment, and object grasping functions.

[0010] To address the aforementioned technical problems, the technical solution of this utility model to achieve the above objectives is as follows:

[0011] An adjustable-spacing laser rangefinder for photographing includes a base connecting plate connected to the end of a robot arm, two lifting cylinders disposed below the base connecting plate, and vacuum suction cup assemblies connected to the lower ends of the telescopic rods of the lifting cylinders via vacuum blocks. A camera module is disposed on the front side of the base connecting plate via a camera connecting plate. The vacuum suction cup assembly includes a suction cup fixing plate connected to the vacuum block and multiple vacuum suction cups disposed below the suction cup fixing plate. A laser rangefinder sensor for detecting the distance between the vacuum suction cups and the workpiece to be gripped is disposed on the suction cup fixing plate. The vacuum suction cups are connected to the vacuum block via pipes, and the vacuum block is connected to a vacuum generator disposed on the base connecting plate via pipes.

[0012] Furthermore, the camera module includes a camera GigE interface connected to a camera connection plate, and a fixed-focus lens and a ring light source connected sequentially from top to bottom to the camera GigE interface.

[0013] Furthermore, a light-shielding protective cover is provided at the lower end of the ring light source, and the light-shielding protective cover is connected to the camera connection plate through the light-shielding protective cover connecting sheet metal parts.

[0014] Furthermore, the lifting cylinder is connected to the elongated hole at the beginning of the base connecting plate by bolts, which facilitates the adjustment of the distance between the two lifting cylinders.

[0015] Furthermore, each of the vacuum suction cups is connected to an elongated hole in the suction cup fixing plate, facilitating adjustment of the spacing between them.

[0016] Furthermore, a digital vacuum pressure device is provided on the base connecting plate, which is connected to the vacuum generator through a pipeline.

[0017] Furthermore, a speed control valve is installed at the air source interface of the lifting cylinder.

[0018] The beneficial effects of this utility model are: 1. Both the distance between the gripper and the distance between the cylinders are adjustable, enabling adaptive gripping; 2. It can effectively achieve integrated control and multi-sensor data fusion; it can accurately measure the target distance through a laser ranging module, acquire target image information through a vision imaging system, and achieve intelligent gripping based on distance and visual information, as well as an operating device that can adjust the gripper distance according to the product size. It can be widely used in industrial automation, robotics, and precision measurement fields. Attached Figure Description

[0019] Figure 1 This is a three-dimensional structural view of the present invention.

[0020] Figure 2 yes Figure 1 Structural diagram of the central base connecting plate.

[0021] Figure 3 yes Figure 1 Structural diagram of the camera module.

[0022] Figure 4 yes Figure 1 Structural diagram of the vacuum suction cup assembly.

[0023] In the diagram: 1. Base connecting plate; 2. Lifting cylinder; 2-1. Speed ​​control valve; 3. Vacuum block; 4. Vacuum suction cup assembly; 4-1. Suction cup fixing plate; 4-2. Vacuum suction cup; 5. Camera connecting plate; 6. Camera module; 6-1. Camera GigE interface; 6-2. Fixed-focus lens; 6-3. Ring light source; 6-4. Light shield; 6-5. Light shield connecting sheet metal parts; 7. Laser rangefinder; 8. Vacuum generator; 9. Digital vacuum pressure device; 10. Workpiece to be gripped. Detailed Implementation

[0024] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0025] like Figure 1 , 2As shown in Figure 4, the adjustable-spacing laser rangefinder and camera gripper of this utility model includes a base connecting plate 1 connected to the end of a robot arm, two lifting cylinders 2 disposed below the base connecting plate 1, and a vacuum suction cup assembly 4 connected to the lower end of the telescopic rod of the lifting cylinders via a vacuum block 3; a camera module 6 is disposed on the front side of the base connecting plate 1 via a camera connecting plate 5; the vacuum suction cup assembly 4 includes a suction cup fixing plate 4-1 connected to the vacuum block 3 and multiple vacuum suction cups 4-2 disposed below the suction cup fixing plate; the suction cup fixing plate 4-1 is provided with a laser sensor for detecting the distance between the vacuum suction cup and the workpiece 10 to be gripped. The optical ranging sensor 7; the vacuum suction cups 4-2 are connected to the vacuum blocks 3 via pipes, and the vacuum blocks 3 are connected to the vacuum generators 8 mounted on the base connecting plate 1 via pipes; the base connecting plate 1 is equipped with a digital vacuum pressure unit 9, which is connected to the vacuum generators 8 via pipes; the lifting cylinders 2 are connected to the elongated holes on the base connecting plate 1 via bolts, facilitating the adjustment of the distance between the two lifting cylinders; the vacuum suction cups 4-2 are all connected to the elongated holes on the suction cup fixing plate 4-1, facilitating the adjustment of the distance between them; the lifting cylinders 2 are equipped with speed regulating valves 2-1 at the air source interface.

[0026] In this embodiment, the camera module 6 includes a camera GigE interface 6-1 connected to the camera connection plate 5, and a fixed-focus lens 6-2 and a ring light source 6-3 connected to the camera GigE interface from top to bottom; a light shield 6-4 is provided at the lower end of the ring light source 6-3, and the light shield 6-4 is connected to the camera connection plate 5 through a light shield connecting sheet metal part 6-5.

[0027] In this embodiment, the lifting cylinder, camera module, laser rangefinder, and vacuum generator are all controlled by the control processing system.

[0028] The working process of this utility model is as follows:

[0029] 1. Target Identification and Localization

[0030] The robotic arm moves its gripper to the appropriate position above the workpiece. The industrial camera module of the vision acquisition module acquires images of the workpiece, obtaining its position, shape, and feature information. The control and processing system preprocesses the acquired images, performs distortion correction and edge feature extraction, and identifies the key measurement points of the workpiece.

[0031] 2. Spacing adaptive adjustment

[0032] Based on the visual recognition results, the control and processing system calculates the estimated dimensions of the workpiece and the locations of key points that need to be measured. Then, by adjusting the distance between the two lifting cylinders and the fixed position of the vacuum suction cup, it matches the workpiece dimensions and measurement requirements.

[0033] Three: Precise Measurement

[0034] The laser rangefinder emits a laser beam towards a target point on the workpiece surface and receives the reflected signal, calculating the distance using a phase shift method. Simultaneously, a vision acquisition module captures images of the workpiece, which are then fused with the laser rangefinder data to improve measurement accuracy.

[0035] 4: Grabbing Operation

[0036] After measurement, the control and processing system determines whether the workpiece meets the gripping requirements based on the measurement results. If it does, the system controls the pneumatic gripper of the flexible hand mechanism to stably grip the workpiece. The vacuum suction cup provides appropriate suction force to ensure good contact with the workpiece surface without causing damage.

[0037] 5. Data Feedback and Adjustment

[0038] During the gripping process, the laser ranging module and vision acquisition module can monitor the workpiece status in real time. If there is displacement or deformation, the control and processing system can adjust the gripper position or suction force in a timely manner to ensure operational reliability.

[0039] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A laser rangefinder and camera gripper with adjustable spacing, characterized in that: The system includes a base connecting plate (1) connected to the end of the robot arm, two lifting cylinders (2) located below the base connecting plate (1), and vacuum suction cup assemblies (4) connected to the lower ends of the lifting cylinder telescopic rods via vacuum blocks (3); a camera module (6) is provided on the front side of the base connecting plate (1) via a camera connecting plate (5); the vacuum suction cup assembly (4) includes a suction cup fixing plate (4-1) connected to the vacuum block (3) and multiple vacuum suction cups (4-2) located below the suction cup fixing plate; a laser range sensor (7) for detecting the distance between the vacuum suction cup and the workpiece (10) to be gripped is provided on the suction cup fixing plate (4-1); the vacuum suction cups (4-2) are connected to the vacuum block (3) via pipes, and the vacuum block (3) is connected to a vacuum generator (8) located on the base connecting plate (1) via pipes.

2. The adjustable-spacing laser rangefinder and camera gripper according to claim 1, characterized in that: The camera module (6) includes a camera GigE interface (6-1) connected to the camera connection plate (5), and a fixed-focus lens (6-2) and a ring light source (6-3) connected to the camera GigE interface from top to bottom.

3. The adjustable-spacing laser rangefinder and camera gripper according to claim 2, characterized in that: A light-shielding protective cover (6-4) is provided at the lower end of the ring light source (6-3). The light-shielding protective cover (6-4) is connected to the camera connection plate (5) through the light-shielding protective cover connecting sheet metal part (6-5).

4. The adjustable-spacing laser rangefinder and camera gripper according to claim 1, characterized in that: The lifting cylinder (2) is connected to the elongated hole on the base connecting plate (1) by bolts, which facilitates the adjustment of the distance between the two lifting cylinders.

5. The adjustable-spacing laser rangefinder and camera gripper according to claim 1, characterized in that: The vacuum suction cups (4-2) are all connected to the elongated holes opened on the suction cup fixing plate (4-1) to facilitate the adjustment of the distance between them.

6. The adjustable-spacing laser rangefinder and camera gripper according to claim 1, characterized in that: A digital vacuum pressure device (9) is provided on the base connecting plate (1), which is connected to the vacuum generator (8) through a pipeline.

7. The adjustable-spacing laser rangefinder and camera gripper according to claim 1, characterized in that: A speed regulating valve (2-1) is provided at the air source interface of the lifting cylinder (2).

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