TWI648136B - Gripping assembly with functions of identification and auto-positioning - Google Patents

Abstract

The jaw structure assembly having the identification alignment function mainly includes a transmission device mounted on a robot arm, a camera lens assembly mounted on the transmission device, and a clamping jaw connected to the transmission device. Wherein the transmission selectively moves the jaw to an insert/placement position and a tracking position. When the jaw is in the object/placement position, the camera axis of the camera lens group is coaxially corresponding to the clamp/storage axis of the jaw; and when the jaw is moved to the tracking position, the jaw is It is located outside the field of view of the lens. Therefore, in addition to accurately determining the position of the workpiece to be gripped by the image captured by the camera lens group, the position of the workpiece can be accurately judged after the object is clamped, and the clamping jaw is improved. Accuracy of the object and the movement of the object.

Description

Jaw structure assembly with identification alignment function

The present invention relates to a jaw structure; and more particularly to an innovative structural designer having a jaw structure assembly that recognizes the alignment function.

Pressing, the jaw structure has always played a pivotal role in the automated assembly mechanism. Its main function is to pick up the workpiece and then place or assemble the clamped workpiece in a preset position with the robot arm. In order to improve the accuracy of gripping, placing or installing the workpiece, and to facilitate the monitoring process, the relevant operator installs the camera lens group on the jaw; and in order to prevent the jaw from intercepting the workpiece, the workpiece will block the camera lens. The camera axis of the group affects the alignment function of the subsequent placement or installation of the workpiece. The camera lens group is usually installed on the side of the jaw base, and then the axis of the camera and the axis of movement of the jaw are obtained obliquely. The intersection point serves as a reference point for mounting or placing the workpiece.

However, this type of operation mode has a large error. Therefore, most of the current operators use the offset offset method to set it. The camera lens is also mounted on the side of the jaw base, and the imaging axis of the camera lens is parallel to the clamping/storage axis of the jaw, because the camera axis of the camera lens and the jaw are clamped. The object/load axis is constant, so when the camera lens confirms the object/storage point, the robot arm provides a certain offset according to the distance between the camera axis and the clamp/storage axis of the jaw to achieve the precision clip. The action of objects or objects. However, when the robot arm is involved in the rotation, the calculation of the rotation angle must be involved in order to confirm the center of the circle (the orthographic projection point of the object/storage axis). Therefore, such an operation mode must also be equipped with an arithmetic unit. Make the jaw structure work accurately.

However, the conventional structure has found that the following problems and drawbacks still exist in the practical application experience: since the intersection of the camera axis and the moving axis of the jaw is fixed, whenever the height of the workpiece mounting reference surface changes Therefore, it is necessary to use the relationship of the trigonometric function to recalculate and set the angle relationship between the imaging axis and the axis of movement of the jaws, so that each setting can only be operated for a single movement mode, so that there is room for improvement. Furthermore, if the installation position is a deep hole, the error of the mounting reference surface will be caused, which will affect the accuracy of the workpiece installation and the operation offset is also a problem. In addition to increasing the cost of the operation unit, the operation time may also cause unnecessary use. Time wasted.

Therefore, in view of the problems existing in the above-mentioned conventional technologies, how to develop an innovative structure that can be more ideal and practical, and the relevant industry should further consider the goals and directions of breakthrough.

In view of this, the inventor has been engaged in the manufacturing development and design experience of related products for many years. After detailed design and careful evaluation, the inventor has finally obtained the practical invention.

The technical feature of the present invention is mainly to provide the jaw structure assembly with the identification alignment function, comprising a transmission device mounted on a robot arm and a camera lens assembly mounted on the transmission device. And a jaw connected to the transmission, wherein the transmission selectively moves the jaw to an insert/placement position and a tracking position.

With the innovative and unique design, the present invention can be used to remove the jaws that block the camera axis of the camera lens group by using the transmission device in the process of tracing alignment, and use the clamping jaw to be located in the folder. In the object/placement position, the image captured by the camera lens group is coaxially corresponding to the structural characteristics of the clamp/storage axis of the jaw, and the precise axial alignment is achieved. The workpiece and the position where the workpiece is to be mounted, improve the practical progress of the accuracy of the jaws and the movement of the workpiece and the better industrial economy (utilization) benefits.

Please refer to Figures 1, 2, 3 and 4, which are preferred embodiments of the jaw structure assembly of the present invention having the function of recognizing the alignment function, but the embodiments are for illustrative purposes only, and The structure of the jaw structure having the function of recognizing the alignment function mainly includes a transmission device 10 mounted on a robot arm (not shown), and a transmission device is mounted on the transmission device. a camera lens assembly 20 on a 10 and a jaw 30 connected to the transmission device 10, wherein the transmission device 10 selectively moves the jaw 30 to an insert/placement position and a tracking position; When the clamping jaw 30 is in the clamping/storing position, the imaging axis 200 of the imaging lens group 20 is coaxially corresponding to the clamping/storage axis of the clamping jaw 30; and when the clamping jaw 30 is moved to the tracking position, The jaws 30 are located outside the field of view of the lens 20, so that the image captured by the camera lens group 20 can be accurately judged and coaxially corresponding to the position where the workpiece 40 is to be gripped, and Accurately judging the coaxial position corresponding to the placement (loading) position of the workpiece, and improving the clamping and loading of the clamping jaw 30 The accuracy of the work.

The transmission device 10 includes a seat body 11 fixed to the robot arm, a rotary shaft 12 penetrating the base body 11 and reciprocatingly rotating relative to the base body 11; an outer surface of the rotating shaft 12 A gear 121 is provided. At least one of the racks 13 is received in the base 11 and is engaged with the rack 13 of the gear 121. The rack 13 is axially reciprocally moved relative to the base 11 to drive the rotating shaft 12 relative to the rack The seat body 11 is reciprocatingly rotated. Both ends of the rotating shaft 12 are respectively fixed with a swing arm 14. In the preferred embodiment of the present invention, the number of the racks 13 is set to two, and the two racks 13 are synchronously reversely moved.

The camera lens assembly 20 is mounted on the base body 11; a frame 21 is mounted on the frame body 11. The frame 21 is formed with a receiving groove 22, and the bottom surface of the cavity 22 is formed with a bottom surface. a perforation 23, wherein the camera lens set 20 is received in the pocket 22, and the free end of the camera lens set 20 is coaxially corresponding to the through hole 23. In the preferred embodiment of the present invention, the camera lens assembly The free end of 20 extends through the perforation 23.

The clamping jaw 30 includes a mounting seat 31 mounted on the free ends of the two swing arms 14. The mounting seat 31 is slidably provided with a plurality of clamping members 32, wherein each clamping member 32 has a free end radial direction. Corresponding to the distance between the imaging axes 200 of the camera lens group 20, please refer to FIG. 8 and FIG. 13 , the free ends of the plurality of clamping members 32 are synchronously synchronized with respect to the imaging axis 200 of the imaging lens group 20 . Radial reciprocating movement to achieve the purpose of clamping the workpiece 40 or releasing the workpiece 40.

In addition, in the preferred embodiment of the present invention, the base 11 of the transmission device 10 is further provided with at least one first stop and stop structure 15 and at least one second stop and stop structure 16. Referring to FIG. 1 , when the clamping jaw 30 is in the clamping/storing position, one of the swing arms 14 is pressed against the at least one second stopping stop structure 16; When the clamping jaw 30 is in the tracking position, the mounting seat 31 of the clamping jaw 30 is pressed against the first stopping and stopping structure 15. Thereby, the gripper 30 can be further ensured to be in the correct position before the movement of the invention and before the object or the object is placed, so as to avoid a malfunction. In a preferred embodiment of the present invention, the at least one first stop-stop structure 15 and the at least one second stop-stop structure 16 are respectively at least one inductor and are respectively electrically connected to a control unit (not shown) ).

With the above structural composition design, the operation of the present invention will be described as follows: Referring to FIG. 4, when the present invention is in the initial state, the jaw 30 is located at the tracking position, as shown in FIG. In the direction shown, the jaws 30 are horizontal and pressed against the at least one first stop and stop structure 15; of course, the jaws 30 are in front of the object, due to the imaging of the camera lens group 20 The axis 200 has not been obscured by the workpiece 40. Therefore, in the initial state of the present invention, the jaw 30 can also be in a vertical state as shown in the third figure; when the working machine of the present invention is installed (not shown) After the at least one first stop and stop structure 15 confirms that the jaws 30 have reached the tracking position, the robot arm moves the gripper 30 together with the transmission device 10 and the camera lens group 20 to enter the gripper 30. Tracking mode, and horizontally moving the transmission device 10 and the jaws 30 along a plane; as shown in FIG. 5, after the workpiece 40 to be gripped enters the field of view of the camera lens group 20, the working machine is The image transmitted by the camera lens group 20 is transmitted through the machine The movement of the arm causes the lens 20 to coaxially correspond to the workpiece 40 to be gripped; when the lens 20 is coaxially corresponding to the workpiece 40 to be gripped, the robot arm pauses all horizontal movements, as shown in FIG. And rotating the rotating shaft 12 by the rack 13 slidably disposed in the transmission device 10, and then moving the clamping jaw 30 to the object/storage position through the swing arm 14, please refer to As shown in FIG. 1 , at this time, the swing arm 14 abuts against the at least one second stop stop structure 16 , and when the working machine passes the at least one second stop stop structure 16 , it is confirmed that the clamp 30 has reached the insert/ After the storage position, please refer to the working machine and the robot arm moving the clamping jaw 30 toward the workpiece 40 along the imaging axis 200 of the imaging lens group 20, as shown in Figures 7 and 8, and then operating the clamping members. 32 is synchronously moved radially inwardly for the purpose of gripping the workpiece 40. Referring to FIG. 9, after the clamping member 32 firmly holds the workpiece 40, the transmission device 10 and the clamping lens 30 are returned to the tracking position, as shown in FIG. 2 above. In the state described, the working machine causes the robot arm to move the gripper 30 together with the transmission device 10 and the camera lens group 20 to enter the tracking mode again, and horizontally move the transmission device 10 and the clamping jaw 30 along a plane. The mounting position 50 of the workpiece 40 is sought, as shown in Fig. 10, which is a recessed hole. Referring to FIG. 10, after the installation position 50 enters the field of view of the camera lens group 20, the working machine uses the image transmitted by the camera lens group 20 to move through the robot arm, so that the lens 20 and the lens 20 The mounting position is coaxially corresponding; when the lens 20 is coaxially corresponding to the mounting position 50, the robot arm suspends all horizontal movements, as shown in Fig. 11, and utilizes the rack 13 that is slid in the transmission device 10. The rotating shaft 12 is rotated by the gear 121, and the clamping jaw 30 is moved to the object/placement position through the swing arm 14. Please refer to FIG. 1 again, at this time, the swing arm 14 is offset. The at least one second stopping and stopping structure 16 is configured to be as shown in FIGS. 12 and 13 after the working mother machine confirms that the clamping jaw 30 has reached the object/storage position through the at least one second stopping and stopping structure 16. The working machine and the robot arm move the jaws 30 toward the workpiece 40 along the camera axis 200 of the camera lens group 20, and after the workpiece 40 is accurately mounted in the mounting position 50, the clamping members 32 are operated. Synchronous outward radial movement to release the workpiece 40 The purpose is to complete the action procedure of the workpiece 40 clamping, moving and mounting. Referring to FIG. 13 , when the clamping jaw 30 releases the workpiece 40 and is reset upward, the transmission device 10 rotates the imaging lens group 20 . Together with the jaws 30, the tracking position is restored to facilitate the next gripping, moving, and mounting of the workpiece 40.

In the above preferred embodiment, the mounting position 50 is a shallow recessed hole. Since the imaging axis of the imaging lens unit is coaxially corresponding to the clamping/storage axis of the clamping jaw 30, even the mounting position is The workpiece 50 and the workpiece 40 are respectively changed into a deep hole and a shaft. The present invention can still accurately and coaxially correspond the workpiece 40 to the mounting position 50, and the assembly accuracy is not reduced by the structural position of the mounting position 40 and the workpiece 50.

In summary, the alignment mode of the present invention completely utilizes the structural axis of the camera lens group 20 coaxially corresponding to the structural characteristics of the clamp/storage axis of the jaw 30, so that no operation offset or trigonometric function is required at all. The arithmetic unit can eliminate the cost of installing the arithmetic unit in structural assembly, and in actual operation, since it does not take time to calculate the offset of the movement, the time required for the entire operation flow can be reduced, and the productivity can be improved.

Advantages of the Invention: The "claw structure assembly with identification alignment function" disclosed in the present invention mainly uses the innovative unique structural types and technical features of the transmission device, the camera lens group and the jaws to make the present invention [Prior Art] In the conventional structure, in the process of tracing alignment, the actuator is used to remove the jaws that shield the camera axis of the camera lens group, and the jaws are located in the object/placement. In position, the imaging axis of the camera lens group is coaxially corresponding to the structural characteristics of the clamping/storage axis of the clamping lens by the image captured by the imaging lens group, thereby achieving accurate axial alignment of the workpiece and The position to be mounted of the workpiece improves the practical progress of the accuracy of the jaws and the movement of the workpiece, and at the same time, the cost of the arithmetic unit can be deducted and the calculation time of the operation offset can be reduced.

10‧‧‧Transmission

11‧‧‧

12‧‧‧Rotary axis

121‧‧‧ Gears

13‧‧‧racks

14‧‧‧ swing arm

15‧‧‧First stop stop structure

16‧‧‧Second stop stop structure

20‧‧‧Photographic lens set

200‧‧‧ camera axis

21‧‧‧Front frame

22‧‧‧ 容容

23‧‧‧Perforation

30‧‧‧claw

31‧‧‧ Mounting

32‧‧‧Clamping parts

40‧‧‧Workpiece

50‧‧‧Installation location

Figure 1 is a perspective view of the jaw of the present invention at the position of the insert/placement. Fig. 2 is a perspective exploded view of the present invention. Figure 3 is a front elevational view of the jaws of the present invention in the insert/storage position. Figure 4 is a front view of the jaws of the present invention in a tracing position. Figure 5 is a schematic view of the lens tracking alignment workpiece of the present invention. 6 to 8 are schematic views showing the action of gripping the workpiece by the jaw of the present invention. Fig. 9 is a schematic view showing the action of moving the gripper to the tracking position after the gripper of the present invention. Figure 10 is a schematic illustration of the specified position of the tracking alignment workpiece of the present invention. Figures 11 through 13 are schematic views of the action of the jaws of the present invention for accurately positioning the workpiece at a designated position. Figure 14 is a schematic view showing the action of the present invention to reset to a tracking position after the workpiece is placed.

Claims (7)

A jaw structure assembly with an identification alignment function includes a transmission device mounted on a robot arm, a camera lens assembly mounted on the transmission device, and a clamping jaw connected to the transmission device. Wherein the transmission selectively moves the jaw to an object/placement position and a tracking position; and in the process of tracking the alignment after the object, the transmission device is used to remove and shield the camera lens group The jaw of the camera axis, with the image captured by the camera lens group, the camera axis of the camera lens group is coaxially corresponding to the structural characteristics of the clamp/storage axis of the jaw, thereby achieving accurate axial alignment Improve the accuracy of the jaw movement. The jaw structure assembly with the identification alignment function according to claim 1, wherein the transmission device comprises a seat body fixed to the robot arm and a rotating shaft extending through the seat body; The rotating shaft rotates reciprocally with respect to the seat body, and a swing arm is fixed to both ends of the rotating shaft. The jaw structure assembly with the identification alignment function of claim 2, wherein the outer surface of the rotating shaft is provided with a gear; at least one is received in the seat body and is engaged with the gear a rack, the rack is axially reciprocatingly moved relative to the seat body, thereby driving the rotating shaft to reciprocally rotate relative to the seat body. The jaw structure assembly with the identification alignment function described in claim 1, 2 or 3, wherein the base of the transmission device is further provided with at least one first stop stop structure and at least one Two stop stop structure; when the jaw is at the object/placement position The swing arm is pressed against the at least one second stop stop structure; when the jaw is in the tracking position, the mount of the jaw is pressed against the first stop stop structure. The at least one first stop stop structure and the at least one second stop stop structure are respectively at least one sensor, as claimed in claim 4, wherein the at least one first stop stop structure and the at least one second stop stop structure are respectively And separately connected to the control unit by power supply. The jaw structure assembly with the identification alignment function according to the second or third aspect of the patent application, wherein the camera lens assembly is mounted on the base; the camera lens group includes a mounting body. a protective frame, the protective frame is formed with a receiving groove, and a bottom surface of the receiving groove is formed with a through hole, wherein the camera lens assembly is received in the receiving groove, and the free end portion of the imaging lens group is coaxial Corresponding to the perforation. The jaw structure assembly with the identification alignment function described in claim 4, wherein the camera lens assembly is mounted on the base; and the frame is mounted on the frame of the base. The middle portion is formed with a receiving groove, and a bottom surface of the receiving groove is formed with a through hole, wherein the camera lens assembly is received in the receiving groove, and the free end portion of the image capturing lens group coaxially corresponds to the through hole.