CN108994870A - End effector and manipulator for manipulator - Google Patents
End effector and manipulator for manipulator Download PDFInfo
- Publication number
- CN108994870A CN108994870A CN201811158299.8A CN201811158299A CN108994870A CN 108994870 A CN108994870 A CN 108994870A CN 201811158299 A CN201811158299 A CN 201811158299A CN 108994870 A CN108994870 A CN 108994870A
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- China
- Prior art keywords
- manipulator
- clamping
- lift drive
- product
- drive mechanism
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- 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
Abstract
The present invention discloses a kind of end effector for manipulator, for picking and placing product, including mounting bracket, lift drive mechanism, feeding device and vision inspection apparatus, lift drive mechanism is mounted on mounting bracket, lift drive mechanism is configured as connecting with the controller communication of manipulator, feeding device is connected to the output end of lift drive mechanism, feeding device is configured as picking and placing product, vision inspection apparatus is mounted on mounting bracket, and vision inspection apparatus is configured as the feature locations of crawl product and feeds back to the controller of manipulator.It drives end effector mobile the invention enables the information that manipulator can be fed back according to vision inspection apparatus so that its feeding device is quickly located in the position for precisely aligning product, effectively improves the positioning accuracy and feeding efficiency of manipulator；Meanwhile but also when product is put back, manipulator can know the information that product is put back and then not execute movement of taking, avoid taking with wrong way progress, play the function of fool proof.
Description
Technical field
The present invention relates to manipulator technical fields more particularly to a kind of for picking and placing the end effector of the manipulator of product
And manipulator.
Background technique
Currently, considering for performance, the manipulator for picking and placing product is generally existing, and structure is complicated, and freedom degree is more, cost
High problem；Moreover, because the positioning accuracy of manipulator is limited, for smoothly taking for cooperative mechanical hand, it is necessary to will be wait take
Product is taken to put neatly according to certain order, slightly mistake will cause feeding to fail, and cause feeding speed slow, efficiency
It is low；In addition, when the products such as mobile phone are put back, there is no methods to be identified to this for manipulator, to can not be met
Purpose is taken.
Summary of the invention
The purpose of the present invention is to provide a kind of end effectors for manipulator, can reduce the property of opponent's arm body
The requirement of energy, the positioning accuracy and feeding efficiency of elevating mechanism hand, and make it have the function of fool proof.
Another object of the present invention is to provide a kind of manipulators, can reduce the requirement of the performance of opponent's arm body, mention
The positioning accuracy and feeding efficiency of manipulator are risen, and has the function of fool proof.
To achieve the above object, the present invention provides a kind of end effectors for manipulator, for picking and placing product, institute
Stating end effector includes mounting bracket, lift drive mechanism, feeding device and vision inspection apparatus, the elevator drive machine
Structure is mounted on the mounting bracket, and the lift drive mechanism is configured as connecting with the controller communication of manipulator, described to take
Material device is connected to the output end of the lift drive mechanism, and the feeding device is configured as picking and placing product, the vision inspection
It surveys device and is mounted on the mounting bracket, the vision inspection apparatus is configured as the feature locations of crawl product and feeds back to machine
The controller of tool hand.
Preferably, the feeding device includes vacuum chuck, the vacuum chuck is connected to the lift drive mechanism
Output end is with the adsorption production under the driving of the lift drive mechanism.
Preferably, the feeding device further includes clamping device, the clamping device includes clamping driving structure and sets
There are two clamping pieces of clamping part, two clamping piece is opposite and is arranged in parallel, and the clamping driving structure is connected to the lifting
The output end of driving mechanism, the clamping driving structure are configured as connecting with the controller communication of manipulator and drive described in two
Clamping piece is close to each other or is located remotely from each other, in the state that the vacuum chuck is adsorbed on product, the folder of two clamping pieces
Hold the two opposing lateral sides of portion's difference face product.
Preferably, the clamping driving structure has the two driving sliding blocks for being located at its bottom and being oppositely arranged, the clamping
Mechanism further includes two attachment bases, and the attachment base is substantially in inverted L shape, including horizontal mounting portion and vertically-mounted portion, the level
Mounting portion is correspondingly connected to the bottom surface of the driving sliding block, and the vertically-mounted portion is correspondingly connected to the inner wall of the clamping piece.
Preferably, longitudinal two sides of the horizontal mounting portion are upward convex to be equipped with two positioning side walls, the driving sliding block limit
Between two positioning side walls of the horizontal mounting portion；The horizontal mounting portion close to the vertically-mounted portion lateral one end to
The top surface of the clamping piece is crimped on beyond the vertically-mounted portion outside.
Preferably, the output end of the lift drive mechanism is connected with horizontal fixed plate, the longitudinal direction of the horizontal fixed plate
Two sides are installed with two connectors, and the upper end of two vacuum chucks is separately mounted to two connectors, the clamping driving knot
Structure is mounted on the bottom surface of the horizontal fixed plate.
Preferably, the end effector includes two lift drive mechanisms and two feeding devices, two liters
Drop driving mechanism is separately mounted to the transverse ends of the mounting bracket, and two feeding devices are correspondingly connected to two liftings
The output end of driving mechanism；Between two feeding devices, the vision inspection apparatus includes the vision inspection apparatus
The camera lens of camera and annular light source, the annular light source and the camera is coaxially disposed.
Preferably, the mounting bracket includes a horizontal mounting plate, two vertical end plates and a vertical side plate, two is described perpendicular
The top of straight end plate is separately mounted to the transverse ends of the horizontal mounting plate, and the top of the vertical side plate is mounted on the water
The middle part of longitudinal side of safety loading board, the lift drive mechanism are lifting cylinder, the corresponding installation of the lift drive mechanism
In the lateral surface of the vertical end plate, the camera is mounted on the lateral surface of the vertical side plate, and the annular light source is mounted on
The bottom end of the vertical side plate.
Preferably, the two clamping driving structures are horizontally oppositely arranged, the bottom of the clamping driving structure is opposite
Two driving sliding blocks are provided with, the annular light source and the two clamping driving structures are located substantially at sustained height and are higher than described in two
The driving sliding block of driving structure is clamped, the annular light source partially extends to the sky between the two clamping driving structures in the longitudinal direction
Between, the annular light source is horizontally respectively outward beyond two inner faces for clamping driving structures.
To realize above-mentioned another object, the present invention provides a kind of manipulators, and for picking and placing product, the manipulator includes
Arm ontology, controller and the end effector as described above for being used for manipulator.
Compared with prior art, the present invention closely, can be grabbed accurately by the vision inspection apparatus of end effector
It takes the feature locations of product and feeds back to the controller of manipulator, so that manipulator can be fed back according to vision inspection apparatus
Information drive that end effector is mobile so that its feeding device is quickly located in the position for precisely aligning product, effectively improve
The positioning accuracy and feeding efficiency of manipulator；Meanwhile but also manipulator can know the letter that product is put back when product is put back
It ceases and then does not execute movement of taking, avoid and taken with what wrong way carried out, play the function of fool proof；Moreover, working as feeding
After device is directed at product, by the lift drive mechanism on end effector, feeding device can be directly driven and taken downwards
Material, effectively improves feeding rate and feeding accuracy, avoids because arm ontology drives feeding device to lead to material taking
The feeding rate of cause is low and the not high problem of feeding accuracy；In addition, vision inspection apparatus and lifting by end effector
The setting of driving mechanism effectively improves the overall performance of manipulator, is conducive to reduction and the machinery of the freedom degree of arm ontology
The simplification of hand structure, and then play the role of saving cost.
Detailed description of the invention
Fig. 1 is schematic perspective view of the embodiment of the present invention for the end effector of manipulator.
Fig. 2 is the schematic perspective view of gripping body of the embodiment of the present invention.
Fig. 3 is the schematic perspective view of the manipulator of the embodiment of the present invention.
Fig. 4 is the schematic block diagram of the control planning of the embodiment of the present invention.
Specific embodiment
For the technology contents that the present invention will be described in detail, construction feature, the effect realized, below in conjunction with embodiment and match
Attached drawing is closed to be explained in detail.
In the description of the present invention, it is to be understood that, term "inner", "outside", "upper", "lower", "top", "bottom", " water
It is flat ", "vertical", " cross ", the instructions such as " vertical " orientation or positional relationship to be based on the orientation or positional relationship shown in the drawings, be only
The present invention and simplified description for ease of description, rather than specific side must be had by indicating or imply signified device or element
Position, thus should not be understood as the limitation to present invention protection content.
The invention discloses a kind of end effectors 100 for manipulator referring to FIG. 1 to FIG. 4, for picking and placing product
900, end effector 100 includes mounting bracket 1, lift drive mechanism 2, feeding device 3 and vision inspection apparatus 4, lifting
Driving mechanism 2 is mounted on mounting bracket 1, and lift drive mechanism 2 is configured as 200 communication connection of controller with manipulator, takes
Material device 3 is connected to the output end of lift drive mechanism 2, and feeding device 3 is configured as picking and placing product 900, vision inspection apparatus 4
It is mounted on mounting bracket 1, vision inspection apparatus 4 is configured as the feature locations of crawl product 900 and feeds back to the control of manipulator
Device 200 processed.In some embodiments, the product 900 of pick-and-place is mobile phone, and the feature locations of product 900 can choose to be taken the photograph for screen
As head and microphone hole location, and or other with distinctive position.
The present invention by end effector 100 vision inspection apparatus 4 can closely, accurate crawl product 900
Feature locations and the controller 200 for feeding back to manipulator, so that the letter that manipulator can be fed back according to vision inspection apparatus 4
Breath drives that end effector 100 is mobile so that its feeding device 3 is quickly located in the position for precisely aligning product 900, effectively mentions
The positioning accuracy and feeding efficiency of manipulator are risen；Meanwhile but also manipulator can know product when product 900 is put back
900 information put back do not execute movement of taking in turn, avoid and are taken with what wrong way carried out, play the function of fool proof；
Moreover, by the lift drive mechanism 2 on end effector 100, can be directly driven after feeding device 3 is directed at product 900
Feeding device 3 carries out downwards feeding, effectively improves feeding rate and feeding accuracy, avoids because of 300 band of arm ontology
Dynamic feeding device 3 is to feeding rate caused by material taking is low and the not high problem of feeding accuracy；In addition, being executed by end
The setting of the vision inspection apparatus 4 and lift drive mechanism 2 of device 100, effectively improves the overall performance of manipulator, is conducive to hand
The reduction of the freedom degree of arm body 300 and the simplification of robot manipulator structure, and then play the role of saving cost.
Referring to Fig. 1, in some embodiments, feeding device 3 includes vacuum chuck 31, vacuum chuck 31 is connected to lifting
The output end of driving mechanism 2 is with the adsorption production 900 under the driving of lift drive mechanism 2.Preferably, vacuum chuck 31 and pumping are true
Empty device (not shown) connection is vacuumized by vacuum evacuation device after vacuum chuck 31 is crimped on product 900 to realize and inhale
The purpose of by-product 900；Preferably, 200 communication connection of controller of vacuum evacuation device and manipulator is vacuumized with instant reception
Instruction；Preferably, vacuum means are set to external device (ED), but its component part as end effector 100 is not precluded；When
So, forming air pressure change in a manner of carrying out adsorption production 900 vacuum chuck 31 itself pushing should not exclude in the present invention
Protection scope except.
Fig. 1, Fig. 2 and Fig. 4 are please referred to, in some embodiments, feeding device 3 further includes clamping device, clamping device packet
Clamping driving structure 32 and two clamping pieces 33 equipped with clamping part 330 are included, two clamping pieces 33 are opposite and are arranged in parallel, and clamping is driven
Dynamic structure 32 is connected to the output end of lift drive mechanism 2, and clamping driving structure 32 is configured as the controller 200 with manipulator
Communication connection and two clamping pieces 33 of driving are close to each other or are located remotely from each other, and are adsorbed on the state on product 900 in vacuum chuck 31
Under, the clamping part 330 of two clamping pieces 33 distinguishes the two opposing lateral sides of face product 900.By the setting of clamping device, so that producing
Product 900 can be clamped while being adsorbed, and effectively improve the reliability that product 900 is taken, and be avoided because adsorbing not
Jail, especially when the product surfaces such as mobile phone 900, which are sticked, situations such as film, the case where caused damage product 900
Generation；Moreover, because two clamping pieces 33 are arranged in parallel, and in the state that vacuum chuck 31 is adsorbed on product 900,
The clamping part 330 of two clamping pieces 33 distinguishes the two opposing lateral sides of face product 900, so that the reliability of clamping be effectively ensured.
Referring to Fig. 2, specifically, the inside of the bottom end of clamping piece 33 is equipped with clamping part 330 flexible, preferably silica gel.
In a particular embodiment, clamping piece 33 has two longitudinally disposed clamping feet 331, and the inside of two clamping feet 331 is respectively equipped with soft
The clamping part 330 of property；Preferably, clamp foot 331 inside be formed with it is longitudinal fasten sliding slot 332, clamping part 330 it is longitudinal it is sliding set into
It is longitudinal to fasten in sliding slot 332.Certainly, the specific structure of above-mentioned clamping piece 33 should not be construed as limiting the invention, clamping piece 33
It can also be unitary structure.
Referring to Fig. 2, in some embodiments, clamping driving structure 32 is a parallel cylinder, clamping driving structure 32 has
There are the two driving sliding blocks 321 being oppositely arranged positioned at its bottom, clamping device further includes two attachment bases 34, and attachment base 34 is substantially in
Inverted L shape, including horizontal mounting portion 341 and vertically-mounted portion 342, horizontal mounting portion 341 are correspondingly connected to the bottom of driving sliding block 321
Face, vertically-mounted portion 342 are correspondingly connected to the inner wall of clamping piece 33.By the setting of clamping driving structure 32, it is effectively ensured
The depth of parallelism of two clamping pieces 33；In addition, enhancing the stability of clamping driving by the design of the attachment base 34 in inverted L shape.
Specifically, clamping piece 33 is further correspondingly connected to vertically-mounted portion 342 by lock-screw 35, with enhancing structure
Stability.
Specifically, longitudinal two sides of horizontal mounting portion 341 are upward convex is equipped with two positioning side walls 343, and driving sliding block 321 limits
Horizontal mounting portion 341 two positioning side walls 343 between, horizontal mounting portion 341 close to vertically-mounted portion 342 lateral one end to
The top surface of clamping piece 33 is crimped on beyond vertically-mounted portion 342 outside；It designs whereby, allows clamping driving structure 32 fast
Speed is accurately fitted within horizontal mounting portion 341, moreover, driving the process of 33 transverse shifting of clamping piece in clamping driving structure 32
In, it is capable of the reliability of 33 transverse shifting of stability and clamping piece of effective enhancing structure.
Referring to Fig. 1, in some embodiments, the output end of lift drive mechanism 2 is connected with horizontal fixed plate 21, it is horizontal
Longitudinal two sides of fixed plate 21 are installed with two connectors 22, and the upper end of two vacuum chucks 31 is separately mounted to two connectors 22, folder
Hold the bottom surface that driving structure 32 is mounted on horizontal fixed plate 21；It designs whereby, effectively enhances vacuum chuck 31 and clamping driving
The mounting stability of structure 32 and the reliability of lifting driving.Specifically, two connectors 22 are L-shape, two connectors 22 are erected
The upper end in straight portion 221 is solidly connected to longitudinal two sides of horizontal fixed plate 21, and the horizontal part 222 of two connectors 22 is used for affixed two vacuum
The upper end of sucker 31.
Referring to Fig. 1, in some embodiments, lift drive mechanism 2 is lifting cylinder；Preferably, lift drive mechanism 2
For sliding desk type cylinder；More preferably, the lateral surface of the slide unit 23 of lift drive mechanism 2 is fixedly installed with stiffening plate 24, lifting driving
The slide unit 23 of mechanism 2 and the bottom end of stiffening plate 24 are fixedly connected with to horizontal fixed plate 21, are thereby enhanced integrally-built steady
It is qualitative.
Referring to Fig. 1, in some embodiments, end effector 100 includes two lift drive mechanisms 2 and two feeding devices
3, two lift drive mechanisms 2 are separately mounted to the transverse ends of mounting bracket 1, and two feeding devices 3 are correspondingly connected to two liftings drive
The output end of motivation structure 2；For vision inspection apparatus 4 between two feeding devices 3, vision inspection apparatus 4 includes camera 41 and ring
The camera lens 411 of shape light source 42, annular light source 42 and camera 41 is coaxially disposed.By above-mentioned design, two groups of feeding devices 3 can be distinguished
It realizes and carries out taking for product 900 to be processed and taking for processed product 900, reduce the round-trip movement of manipulator, thus
Improve the mobility of manipulator；The coaxial arrangement of camera 41 and annular light source 42 between two feeding devices 3, Neng Gouyou
Effect guarantees the effect of 900 image-capture of product.
Preferably, the camera lens 411 of camera 41 can carry out flexible adjustment up and down, in favor of carrying out better figure crawl.
Referring to Fig. 1, in some embodiments, mounting bracket 1 include a horizontal mounting plate 11, two vertical end plates 12 and
The top of one vertical side plate 13, two vertical end plates 12 is separately mounted to the transverse ends of horizontal mounting plate 11, vertical side plate 13
Top is mounted on the middle part of longitudinal side of horizontal mounting plate 11, and lift drive mechanism 2 is lifting cylinder, lift drive mechanism 2
The corresponding lateral surface for being mounted on vertical end plate 12, the camera body 412 of camera 41 are mounted on the lateral surface of vertical side plate 13, annular
Light source 42 is mounted on the bottom end of vertical side plate 13.By above-mentioned design, the integrally-built of end effector 100 has been effectively ensured
Stability.
Fig. 1 and Fig. 2 is please referred to, in some embodiments, two clamping driving structures 32 are horizontally oppositely arranged, and clamping is driven
The bottom of dynamic structure 32 is relatively set with two driving sliding blocks 321, and annular light source 42 and two clamping driving structures 32 are located substantially at together
One height and the driving sliding block 321 for being higher than two clamping driving structures 32, annular light source 42 partially extend to two clampings drive in the longitudinal direction
Space between dynamic structure 32, the inner face that annular light source 42 horizontally clamps driving structures 32 beyond two outward respectively；By
This design, so that being in suitable distance, Jin Erneng between annular light source 42 and product 900 when being ready for taking operation
It is enough effectively illuminated, and is conducive to the miniaturization of end effector 100.
Referring to Fig. 1, in some embodiments, end effector 100 further includes converter 5, converter 5 and mounting bracket
1 connection, converter 5 are configured to connect to the arm ontology 300 of manipulator.
Please refer to Fig. 3 and Fig. 4, the invention also discloses a kind of manipulator, including arm ontology 300, controller 200 and
Such as the end effector 100 for manipulator of above-described embodiment.Specifically, the root of the arm ontology 300 is fixed on machine
In tool hand fixing seat 400.
Below by taking specific embodiments of the present invention as an example, manipulator specific work process is described；It is only of the invention as understanding
It is used, should not be a limitation of the present invention.
Firstly, passing through the drive of arm ontology 300, make end effector 100 close to product 900；
Then, vision inspection apparatus 4 grabs the feature locations of product 900, with the exact position of positioning product 900；
Then, the information control arm ontology 300 that controller 200 is fed back according to vision inspection apparatus 4 moves, so that end
The correspondence feeding device 3 of actuator 100 is directed at product 900；
Then, controller 200 controls the driving feeding device 3 downwards of lift drive mechanism 2, until vacuum chuck 31 is suitably
It is crimped on product 900, then controls vacuum evacuation device and vacuum chuck 31 is vacuumized to carry out the absorption of product 900, at this point,
The clamping part 330 of corresponding two clamping piece 33 also face in the both sides of product 900；
Then, the control of controller 200 clamps 32 actuation of driving structure to drive two clamping pieces 33 close to each other, so that
Product 900 is clamped between two clamping pieces 33；
Then, product 900 can be taken to target position by controlling the movement of arm ontology 300 by controller 200；
Then, controller 200 controls vacuum evacuation device and clamping driving structure 32 again to discharge product 900, lifting driving
Mechanism 2 brings up the reset of feeding device 3.
The above disclosure is only a preferred example of the present invention, cannot limit the right model of the present invention with this certainly
It encloses, therefore according to equivalent variations made by scope of the present invention patent, still falls within the range that the present invention is covered.
Claims (10)
1. a kind of end effector for manipulator, for picking and placing product, which is characterized in that the end effector includes peace
Bracket, lift drive mechanism, feeding device and vision inspection apparatus are filled, the lift drive mechanism is mounted on the installation branch
Frame, the lift drive mechanism are configured as connecting with the controller communication of manipulator, and the feeding device is connected to the liter
The output end of driving mechanism drops, and the feeding device is configured as picking and placing product, and the vision inspection apparatus is mounted on the peace
Bracket is filled, the vision inspection apparatus is configured as the feature locations of crawl product and feeds back to the controller of manipulator.
2. being used for the end effector of manipulator as described in claim 1, which is characterized in that the feeding device includes vacuum
Sucker, the vacuum chuck are connected to the output end of the lift drive mechanism to inhale under the driving of the lift drive mechanism
By-product.
3. being used for the end effector of manipulator as claimed in claim 2, which is characterized in that the feeding device further includes folder
Mechanism is held, the clamping device includes that clamping driving structure and two clamping pieces equipped with clamping part, two clamping piece are opposite
And be arranged in parallel, the clamping driving structure is connected to the output end of the lift drive mechanism, the clamping driving structure quilt
It is configured to connect and drive two clamping pieces close to each other with the controller communication of manipulator or be located remotely from each other, in the vacuum
Sucker suction is in the state of on product, the two opposing lateral sides of the clamping part difference face product of two clamping pieces.
4. being used for the end effector of manipulator as claimed in claim 3, which is characterized in that the clamping driving structure has
Positioned at its bottom and be oppositely arranged two driving sliding blocks, the clamping device further includes two attachment bases, and the attachment base is substantially in
Inverted L shape, including horizontal mounting portion and vertically-mounted portion, the horizontal mounting portion are correspondingly connected to the bottom surface of the driving sliding block,
The vertically-mounted portion is correspondingly connected to the inner wall of the clamping piece.
5. being used for the end effector of manipulator as claimed in claim 4, which is characterized in that the longitudinal direction of the horizontal mounting portion
Two sides are upward convex to be equipped with two positioning side walls, and the driving sliding block limit is between two positioning side walls of the horizontal mounting portion；Institute
It states horizontal mounting portion and exceeds the vertically-mounted portion outward close to the lateral one end in the vertically-mounted portion to be crimped on the folder
The top surface of gripping member.
6. as claimed in claim 3 be used for manipulator end effector, which is characterized in that the lift drive mechanism it is defeated
Outlet is connected with horizontal fixed plate, and longitudinal two sides of the horizontal fixed plate are installed with two connectors, two vacuum chucks
Upper end is separately mounted to two connectors, and the clamping driving structure is mounted on the bottom surface of the horizontal fixed plate.
7. being used for the end effector of manipulator as described in claim 1, which is characterized in that the end effector includes two
The lift drive mechanism and two feeding devices, two lift drive mechanisms are separately mounted to the cross of the mounting bracket
To both ends, two feeding devices are correspondingly connected to the output end of two lift drive mechanisms；The vision inspection apparatus position
Between two feeding devices, the vision inspection apparatus includes camera and annular light source, the annular light source and the phase
The camera lens of machine is coaxially disposed.
8. being used for the end effector of manipulator as claimed in claim 7, which is characterized in that the mounting bracket includes a water
Safety loading board, two vertical end plates and a vertical side plate, the top of the two vertical end plates are separately mounted to described be horizontally mounted
The transverse ends of plate, the top of the vertical side plate are mounted on the middle part of longitudinal side of the horizontal mounting plate, the lifting
Driving mechanism is lifting cylinder, the corresponding lateral surface for being mounted on the vertical end plate of the lift drive mechanism, the camera peace
Mounted in the lateral surface of the vertical side plate, the annular light source is mounted on the bottom end of the vertical side plate.
9. being used for the end effector of manipulator as claimed in claim 7, which is characterized in that the two clamping driving structures exist
It is oppositely arranged in transverse direction, the bottom of the clamping driving structure is relatively set with two driving sliding blocks, the annular light source and two institutes
State the driving sliding block that clamping driving structure is located substantially at sustained height and is higher than the two clamping driving structures, the annular light source
The space between the two clamping driving structures is partially extended in the longitudinal direction, and the annular light source horizontally exceeds outward respectively
The inner face of the two clamping driving structures.
10. a kind of manipulator, for picking and placing product, which is characterized in that the manipulator includes arm ontology, controller and such as
The described in any item end effectors for manipulator of claim 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811158299.8A CN108994870A (en) | 2018-09-30 | 2018-09-30 | End effector and manipulator for manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811158299.8A CN108994870A (en) | 2018-09-30 | 2018-09-30 | End effector and manipulator for manipulator |
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| CN201811158299.8A Pending CN108994870A (en) | 2018-09-30 | 2018-09-30 | End effector and manipulator for manipulator |
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| CN109888598A (en) * | 2019-03-29 | 2019-06-14 | 东莞华贝电子科技有限公司 | Operating equipment for terminal |
| CN110271031A (en) * | 2019-05-09 | 2019-09-24 | 湖南视比特机器人有限公司 | A kind of lifting pinching vacuum chuck fixture and application method |
| CN110802599A (en) * | 2019-11-28 | 2020-02-18 | 爱孚迪(上海)制造系统工程有限公司 | System for grabbing parts from material frame under robot vision guidance and control method |
| CN110948509A (en) * | 2019-12-02 | 2020-04-03 | 深圳光韵达光电科技股份有限公司 | Manipulator anchor clamps and robot |
| CN112658672A (en) * | 2019-10-16 | 2021-04-16 | 富鼎电子科技(嘉善)有限公司 | Automatic part assembling equipment |
| 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 |
| CN112893670A (en) * | 2021-01-18 | 2021-06-04 | 广东鑫光智能系统有限公司 | Unilateral adjusting clamp |
| CN113044563A (en) * | 2021-03-01 | 2021-06-29 | 大族激光科技产业集团股份有限公司 | Feeding mechanism and belt cleaning device |
| CN114311004A (en) * | 2021-12-22 | 2022-04-12 | 厦门特仪科技有限公司 | Non-contact sucking disc anchor clamps |
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