CN107030696A - A kind of vision guide handgrip - Google Patents
A kind of vision guide handgrip Download PDFInfo
- Publication number
- CN107030696A CN107030696A CN201710291108.4A CN201710291108A CN107030696A CN 107030696 A CN107030696 A CN 107030696A CN 201710291108 A CN201710291108 A CN 201710291108A CN 107030696 A CN107030696 A CN 107030696A
- Authority
- CN
- China
- Prior art keywords
- support
- workpiece
- gripping finger
- handgrip
- crawl
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 19
- 230000000694 effects Effects 0.000 claims abstract description 10
- 238000006073 displacement reaction Methods 0.000 claims description 13
- 230000000007 visual effect Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 15
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
Abstract
The invention discloses a kind of vision guide handgrip, including pedestal, pedestal opposite end is respectively equipped with clamping device and detent mechanism, clamping device includes crawl support, the activity gripping finger engaged with fixed gripping finger that crawl support is provided with fixed gripping finger and driven by the first cylinder, detent mechanism includes first support and the second support being arranged on below first support, first support is provided with the sighting device for vision positioning workpiece, the alignment pin that second support drives provided with the second cylinder and by the second cylinder, and alignment pin is located at sighting device within sweep of the eye.The present invention provides a kind of handgrip with vision guide function, can be captured instead of manpower, and the handgrip can be by sighting device precise positioning workpiece space coordinate, and guides mechanical positioner and grasping mechanism to carry out the positioning and crawl of workpiece.The application of this handgrip, can not only quickly, accurately be captured, and improve production efficiency, also improve the automaticity of robot industry production.
Description
Technical field
The present invention relates to robot control field, more particularly to a kind of robot vision guiding handgrip.
Background technology
In modern manufacturing industry, industrial robot is widely used in various production requirements.It can not only by workman from
Freed in numerous and diverse work task, and also improve the quality of product and the automatization level of production line simultaneously, significantly
Ground improves operating efficiency.
Otherness, the arbitrariness put due to part, it is accurate to be difficult to when causing automatic machinery people to take part from bin
Crawl, have impact on the speed of robot pickup, reduces production efficiency.
In order to adapt to various complicated Assembling Productions, automated production efficiency is improved, to improve robot industry production
Automaticity, it is proposed that a kind of handgrip with vision guide function.
The content of the invention
It is an object of the invention to provide a kind of handgrip with vision guide function, robot arm end, energy are installed on
Workpiece differences, multifarious problem in Complex Assembly work are enough solved, to improve the automaticity and production efficiency of production.
For achieving the above object, the technical scheme is that：A kind of vision guide handgrip, including it is horizontally disposed
Pedestal, pedestal is provided with least one clamping device and at least one detent mechanism, and clamping device and detent mechanism are separately positioned on
Pedestal opposite end,
The clamping device includes crawl support, and crawl pedestal upper end is fixedly connected with pedestal lower surface, and crawl pedestal lower end is set
There is fixed gripping finger, fixed gripping finger has the activity gripping finger being connected with the first cylinder end, and the first cylinder is arranged on crawl support
Sideways, when the first cylinder is run, drive activity gripping finger is up and is engaged with fixed gripping finger；
The detent mechanism includes first support and the second support being arranged on below first support, and first support is provided with vision
Device, sighting device includes the camera and laser that Integral design is provided with the insulating boot being fixedly connected with first support, insulating boot
Displacement transducer, camera and the laser displacement sensor visual field are downward and direction is identical；Second support is provided with the second cylinder, second
Cylinder end is provided with least one alignment pin, and alignment pin is located in the range of camera fields of view and set parallel to camera fields of view direction.
The vision guide handgrip workflow includes：Robot receives the crawl signal of industrial computer transmission, first machine
People is measured close to the location of workpiece, sighting device by laser displacement sensor to workpiece, and metrical information must go to work through computing
The Sloped rotating departure of part, robot carries out pose adjustment according to departure, handgrip is captured into plane parallel to workpiece face, so
Workpiece planarization image is absorbed by camera afterwards, workpiece upper Positioning holes center is found and carries out horizontal departure computing, robot
According to horizontal departure amount horizontal displacement, meanwhile, the machinery positioning of workpiece is carried out by detent mechanism, alignment pin is inserted into workpiece and determined
In the hole of position, and secured the workpiece against by grasping mechanism between fixed gripping finger and activity gripping finger, complete workpiece grabbing.
The beneficial effects of the invention are as follows：The present invention provides a kind of handgrip with vision guide function, manpower can be replaced to carry out
Crawl, the handgrip can realize the positioning and crawl of workpiece by sighting device precise positioning workpiece, and under sighting device guiding.
The application of this handgrip, can not only quickly, accurately be captured, and improve production efficiency, also improve robot industry production oneself
Dynamicization degree.
Brief description of the drawings
Fig. 1 is structural representation of the invention；
Fig. 2 is the structural representation of sighting device in the present invention.
Embodiment
The technical scheme in the embodiment of the present invention is clearly and completely described below in conjunction with accompanying drawing.
As shown in figure 1, a kind of vision guide handgrip, is arranged on robot arm end, including pedestal 1, pedestal 1 is provided with extremely
A few clamping device 2 and at least one detent mechanism 3, clamping device 2 and detent mechanism 3 are separately positioned on pedestal 1 relative two
End,
The clamping device 2 includes crawl support 21, and the crawl upper end of support 21 is fixedly connected with the lower surface of pedestal 1, captures support
21 lower ends are provided with fixed gripping finger 22, and fixed gripping finger 22 has the activity gripping finger 24 being connected with the end of the first cylinder 23, the first gas
Cylinder 23 is arranged on the side of crawl support 21, when the first cylinder 23 is run, and drive activity gripping finger 24 is up and is engaged with fixed gripping finger；
The detent mechanism 3 includes first support 31 and is arranged on the second support 32 of the lower section of first support 31, first support 31
Sighting device 33 is provided with, as shown in Fig. 2 sighting device 33 includes the insulating boot 34 being fixedly connected with first support 31, insulation
The camera 35 and laser displacement sensor 36 of Integral design are provided with cover 34, camera 35 and the visual field of laser displacement sensor 36 are downward
And direction is identical；Second support 32 is provided with the second cylinder 37, and the end of the second cylinder 37 is provided with least one alignment pin 38, positioning
Pin 38 is located in the range of camera fields of view and set parallel to camera fields of view direction.
The pedestal 1 is connected by flange with robot, sighting device 33, clamping device 2 and detent mechanism 3 respectively with work
Mechatronics are controlled, during work, industrial computer control sighting device 33 passes sequentially through camera 35 and laser displacement sensor 36 carries out work
Part is positioned, and determines workpiece space position, and guided robot progressively reaches the location of workpiece, then controls clamping device 2 successively and fixed
Position mechanism 3 carries out machinery positioning and the crawl of workpiece.
The vision guide handgrip workflow includes：Industrial computer receives crawl signal, and control machine people first is close to work
Part position, makes sighting device 33 apart from workpiece in the range of 250mm-300mm, and workpiece is carried out by laser displacement sensor 36
Measurement, metrical information draws the Sloped rotating departure of workpiece through computing, and robot carries out pose adjustment according to departure, makes to grab
Hand captures plane parallel to workpiece face, then absorbs workpiece planarization image by camera 35, finds workpiece upper Positioning holes centre bit
Put and carry out horizontal departure computing, robot according to horizontal departure amount horizontal displacement, meanwhile, pass through detent mechanism 3 carry out workpiece
Machinery positioning, alignment pin 38 is inserted in workpiece positioning hole, and the fixed He of gripping finger 22 is secured the workpiece against by grasping mechanism 2
Between activity gripping finger 24, workpiece grabbing is completed.
The vision guide handgrip of the present embodiment, can be captured, the handgrip can be accurate by sighting device instead of manpower
Workpiece is positioned, and the positioning and crawl of workpiece are realized under sighting device guiding.The application of this handgrip, can not only quickly,
Accurate crawl, improves production efficiency, also improves the automaticity of robot industry production.
Described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Based in the present invention
Embodiment, the every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made, all
Belong to the scope of the present invention.
Claims (2)
1. a kind of vision guide handgrip, including it is arranged at the pedestal of robot arm end, it is characterised in that pedestal is provided with least
One clamping device and at least one detent mechanism, clamping device and detent mechanism are separately positioned on pedestal opposite end,
The clamping device includes crawl support, and crawl pedestal upper end is fixedly connected with pedestal lower surface, and crawl pedestal lower end is set
There is fixed gripping finger, fixed gripping finger has the activity gripping finger being connected with the first cylinder end, and the first cylinder is arranged on crawl support
Sideways, when the first cylinder is run, drive activity gripping finger is up and is engaged with fixed gripping finger；
The detent mechanism includes first support and the second support being arranged on below first support, and first support is provided with vision
Device, sighting device includes the camera and laser that Integral design is provided with the insulating boot being fixedly connected with first support, insulating boot
Displacement transducer, camera and the laser displacement sensor visual field are downward and direction is identical；Second support is provided with the second cylinder, second
Cylinder end is provided with least one alignment pin, and alignment pin is located in the range of camera fields of view and set parallel to camera fields of view direction.
2. a kind of vision guide handgrip according to claim 1, it is characterised in that the vision guide handgrip workflow
Including：Robot receives the crawl signal of industrial computer transmission, and robot first is close to the location of workpiece, and sighting device passes through laser position
Displacement sensor is measured to workpiece, and metrical information draws the Sloped rotating departure of workpiece through computing, and robot is according to deviation
Amount carries out pose adjustment, and handgrip is captured into plane parallel to workpiece face, then workpiece planarization image is absorbed by camera, finds work
Part upper Positioning holes center simultaneously carries out horizontal departure computing, robot according to horizontal departure amount horizontal displacement, meanwhile, by fixed
Position mechanism carries out the machinery positioning of workpiece, and alignment pin is inserted in workpiece positioning hole, and is secured the workpiece against by grasping mechanism
Between fixed gripping finger and activity gripping finger, workpiece grabbing is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710291108.4A CN107030696A (en) | 2017-04-28 | 2017-04-28 | A kind of vision guide handgrip |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710291108.4A CN107030696A (en) | 2017-04-28 | 2017-04-28 | A kind of vision guide handgrip |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107030696A true CN107030696A (en) | 2017-08-11 |
Family
ID=59536842
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710291108.4A Pending CN107030696A (en) | 2017-04-28 | 2017-04-28 | A kind of vision guide handgrip |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107030696A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108827195A (en) * | 2018-08-31 | 2018-11-16 | 南京博蓝奇智能科技有限公司 | The intelligent measurement method and equipment of hole axial workpiece based on machine vision |
| CN111823471A (en) * | 2020-07-21 | 2020-10-27 | 上海发那科机器人有限公司 | Automatic cavity foaming visual positioning device and automatic foaming method |
| CN112706182A (en) * | 2021-01-11 | 2021-04-27 | 河南勤工机器人有限公司 | Pipe and section bar robot identification disordered grabbing feeding machine |
| CN112743563A (en) * | 2020-12-14 | 2021-05-04 | 联宝(合肥)电子科技有限公司 | Assembly structure and assembly method for tail end of manipulator |
| CN113119087A (en) * | 2021-03-29 | 2021-07-16 | 珠海格力智能装备有限公司 | Shell and tube expansion joint control method and system and storage medium |
| CN114227726A (en) * | 2021-11-29 | 2022-03-25 | 北京特种机械研究所 | Cover plate grabbing clamp |
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| CN104741739A (en) * | 2013-12-30 | 2015-07-01 | 唐山长城电焊机总厂有限公司 | Position correcting system of welding robot |
| CN104931421A (en) * | 2015-06-17 | 2015-09-23 | 武汉精测电子技术股份有限公司 | Locating and focusing method of visual inspection system of liquid crystal display panel |
| CN105372856A (en) * | 2015-12-14 | 2016-03-02 | 武汉精测电子技术股份有限公司 | Multi-station aligning method and device for detecting large-screen panel based on mechanical arm |
| CN105627056A (en) * | 2016-03-25 | 2016-06-01 | 江苏科技大学 | Industrial camera bracket capable of automatically regulating angle and control method for industrial camera bracket |
| WO2016190124A1 (en) * | 2015-05-25 | 2016-12-01 | 川崎重工業株式会社 | Gear mechanism assembly apparatus and assembly method |
| CN106476030A (en) * | 2016-12-20 | 2017-03-08 | 大连大橡工程技术有限公司 | The novel steel wire spindle crawl fixture of robot |
| CN206869890U (en) * | 2017-04-28 | 2018-01-12 | 广州瑞松北斗汽车装备有限公司 | A kind of vision guide handgrip |
-
2017
- 2017-04-28 CN CN201710291108.4A patent/CN107030696A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104741739A (en) * | 2013-12-30 | 2015-07-01 | 唐山长城电焊机总厂有限公司 | Position correcting system of welding robot |
| WO2016190124A1 (en) * | 2015-05-25 | 2016-12-01 | 川崎重工業株式会社 | Gear mechanism assembly apparatus and assembly method |
| CN104931421A (en) * | 2015-06-17 | 2015-09-23 | 武汉精测电子技术股份有限公司 | Locating and focusing method of visual inspection system of liquid crystal display panel |
| CN105372856A (en) * | 2015-12-14 | 2016-03-02 | 武汉精测电子技术股份有限公司 | Multi-station aligning method and device for detecting large-screen panel based on mechanical arm |
| CN105627056A (en) * | 2016-03-25 | 2016-06-01 | 江苏科技大学 | Industrial camera bracket capable of automatically regulating angle and control method for industrial camera bracket |
| CN106476030A (en) * | 2016-12-20 | 2017-03-08 | 大连大橡工程技术有限公司 | The novel steel wire spindle crawl fixture of robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108827195A (en) * | 2018-08-31 | 2018-11-16 | 南京博蓝奇智能科技有限公司 | The intelligent measurement method and equipment of hole axial workpiece based on machine vision |
| CN111823471A (en) * | 2020-07-21 | 2020-10-27 | 上海发那科机器人有限公司 | Automatic cavity foaming visual positioning device and automatic foaming method |
| CN112743563A (en) * | 2020-12-14 | 2021-05-04 | 联宝(合肥)电子科技有限公司 | Assembly structure and assembly method for tail end of manipulator |
| CN112706182A (en) * | 2021-01-11 | 2021-04-27 | 河南勤工机器人有限公司 | Pipe and section bar robot identification disordered grabbing feeding machine |
| CN112706182B (en) * | 2021-01-11 | 2023-04-07 | 河南勤工机器人有限公司 | Pipe and section bar robot identification disordered grabbing feeding machine |
| CN113119087A (en) * | 2021-03-29 | 2021-07-16 | 珠海格力智能装备有限公司 | Shell and tube expansion joint control method and system and storage medium |
| CN113119087B (en) * | 2021-03-29 | 2022-05-17 | 珠海格力智能装备有限公司 | Shell and tube expansion joint control method and system and storage medium |
| CN114227726A (en) * | 2021-11-29 | 2022-03-25 | 北京特种机械研究所 | Cover plate grabbing clamp |
| CN114227726B (en) * | 2021-11-29 | 2023-12-19 | 北京特种机械研究所 | Cover plate grabbing clamp |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170811 |
|
| RJ01 | Rejection of invention patent application after publication |