CN112060069A - Visual sensing gripper capable of rotating and lifting and gripping method thereof - Google Patents

Abstract

The invention discloses a visual sensing gripper capable of rotating and lifting, which comprises: the base assembly comprises a support frame, a base arranged on the side of the support frame and a main body connected with the base; the movable lifting rotating assembly comprises a shell arranged above the support frame, a cross beam buckled with the shell, a moving mechanism arranged below the cross beam, a moving motor connected with the moving mechanism, a main body lifting mechanism arranged in the base and a rotating mechanism arranged at the end part of the main body; the lifting visual gripper assembly comprises a gripper lifting mechanism arranged in the rotating arm, a connecting arm movably connected with the connecting piece and a visual sensor arranged at the center of the fixed disc. The visual sensor is designed in the mechanical gripper, so that the mechanical gripper can finish work independently even if the light at the position for gripping an object is insufficient or the mechanical gripper is far away from an operator, and the cost is saved.

Description

Visual sensing gripper capable of rotating and lifting and gripping method thereof

This patent is the divisional application, and the information of former application is: application date 2019, 02 and 28, with application numbers: 2019101515277, title of the invention: a visual sensing gripper with a rotary lifting function and a gripping method thereof.

Technical Field

The invention relates to a gripper, in particular to a visual sensing gripper capable of rotating and lifting and a gripping method thereof.

Background

The vision sensor is a direct source of information for the entire machine vision system, and consists primarily of one or two graphic sensors, sometimes with light projectors and other ancillary equipment, and its primary function is to acquire enough of the most primitive images to be processed by the machine vision system.

Mechanical grippers are high precision, high range, high quantification gripping tools, which are essential in modern industrial production.

However, in the work of a large lifting platform and a mechanical gripper, because the object to be gripped is generally in insufficient light or is far away from an operator, a plurality of people are often required to cooperate to complete the gripping of the gripped object in the gripping process, so that the cost is greatly increased.

Disclosure of Invention

The purpose of the invention is as follows: the vision sensing gripper capable of rotating and lifting and the gripping method thereof are provided to solve the problems in the prior art.

The technical scheme is as follows: a rotationally liftable visual sensing gripper comprising:

the base assembly comprises a support frame, a base arranged on the side part of the support frame, a main body connected with the base and a rotating arm arranged above the main body;

the movable lifting rotating assembly comprises a shell arranged above the supporting frame, a cross beam buckled with the shell, a moving mechanism arranged below the cross beam, a moving motor connected with the moving mechanism, a main body lifting mechanism arranged in the base, a rotating mechanism arranged at the end part of the main body and a rotating motor connected with the rotating mechanism;

lifting vision tongs subassembly, including setting up the tongs elevating system in the swinging boom inside, the connection pad of being connected with tongs elevating system, set up connection pad connecting piece all around, with connecting piece swing joint's linking arm, set up the mounting at the linking arm tip, with mounting swing joint's slider, the fixed disk of fixed connection slider, the vision sensor that sets up in the fixed disk centre of a circle play to and the cylinder of setting between fixed disk and connection pad.

In a further embodiment, the moving mechanism comprises an output shaft arranged at the end part of the moving motor, a moving gear sleeved on the output shaft, a moving rack meshed with the moving gear, connecting blocks arranged at two ends of the moving rack, and fixing blocks arranged at the side parts of the moving rack.

In a further embodiment, the main body elevating mechanism includes a bottom plate disposed inside the base, an elevating output gear penetrating through the bottom plate, an elevating input gear drivingly connected with the elevating output gear, a fixing plate disposed below the elevating input gear, a screw rod penetrating through the fixing plate and inserted into the elevating input gear, and a sliding part disposed at an end of the screw rod and slidably connected with the main body.

In a further embodiment, the rotating mechanism comprises an input shaft arranged at the end part of the rotating motor, a rotating input gear sleeved on the input shaft, a rotating output gear in transmission connection with the rotating input gear, and a rotating plate block arranged below the rotating output gear.

In a further embodiment, the gripper lifting mechanism comprises a first motor arranged inside the rotating arm, a first output shaft arranged on the side of the first motor, a first output gear sleeved on the first output shaft, a first input gear meshed with the first output gear, a rotating shaft inserted with the first input gear, a winding drum sleeved on the rotating shaft, and a visual gripper connected with the winding drum in a rolling manner; and a steel wire rope is arranged between the rotating shaft inserted rotating arm and the winding drum and between the winding drum and the visual gripper.

In a further embodiment, the sliding part comprises a sliding body fastened with the main body, and a plurality of groups of rollers are arranged between the main body and the sliding body.

In a further embodiment, a second rotating shaft is arranged between the connecting piece and the connecting arm, and a first rotating shaft is arranged between the connecting arm and the fixing piece.

A method of grasping a rotationally liftable vision-sensing gripper, comprising:

s1: when the visual gripper needs to grip an object, the position of the visual gripper is adjusted by the main body lifting mechanism, the moving mechanism, the rotating mechanism and the gripper lifting mechanism;

s2: the main part lifting unit drives the main part to go up and down, and the concrete process is as follows: the lifting motor rotates to drive the lifting output gear to rotate, further drives the lifting input gear in transmission connection with the lifting output gear to rotate, further drives the screw rod inserted with the lifting output gear to rotate, further enables the main body to slide in the sliding body, and completes the lifting movement of the main body;

s3: the moving mechanism drives the main body to move horizontally, and the specific process is as follows: the moving gear sleeved with the output shaft of the moving motor is driven to rotate by the rotation of the moving motor, so that the moving rack meshed with the moving gear is driven to move, the cross beam connected with the fixed block is driven to horizontally move, and the main body connected with the cross beam is driven to move;

s4: the rotating mechanism drives the rotating arm to rotate, and the specific process is as follows: the rotating motor rotates to drive a rotating input gear sleeved with an input shaft of the rotating motor to rotate, and further drives a rotating output gear in transmission connection with the rotating input gear to rotate, so as to drive a rotating arm in plug connection with the rotating output gear to rotate, and thus the rotating arm rotates;

s5: tongs elevating system drives the vision tongs and goes up and down, and specific process is as follows: the first motor drives the first output shaft to rotate, so as to drive the first output gear sleeved with the first output shaft to rotate, further drive the first input gear meshed with the first output gear to rotate, further drive the rotating shaft inserted with the first input gear to rotate, further drive the winding drum sleeved with the rotating shaft to rotate, further roll by the winding drum, perform winding on the steel wire rope, and further complete lifting of the visual gripper;

s6: the specific grabbing process of the visual gripper is as follows: support the fixed disk by the cylinder and carry out the downstream, and then drive the fixed disk downstream, the linking arm will rotate along the second rotation axis this moment, and then drive the mounting along inwards advancing the slip to the slider, and then support the extension shaft and inwards slide along the slider, support the object that needs snatched by the clamp splice, accomplish the process of snatching of vision tongs, at the in-process of snatching of vision tongs, the vision sensor that sets up in fixed disk centre of a circle department will real-time sensing snatch the all ring edge borders of object, in order to make things convenient for the operator to keep away from or press from the work of getting the object in dark department.

Has the advantages that: the invention discloses a visual sensing gripper capable of rotating and lifting and a gripping method thereof.

Drawings

Fig. 1 is a schematic structural view of the present invention.

Fig. 2 is a schematic view of the translation mechanism of the present invention.

Fig. 3 is a schematic view of a rotary mechanism of the present invention.

Fig. 4 is a schematic view of the elevating mechanism of the present invention.

Fig. 5 is a schematic view of a visual grip of the present invention.

Fig. 6 is a schematic view of a visual gripper lifting mechanism of the present invention.

Fig. 7 is a schematic view of the structure of the sliding portion of the present invention.

The reference signs are: a base 1, a lifting output gear 101, a bottom plate 102, a fixing plate 103, a lifting input gear 104, a lifting belt 105, a lifting motor 106, a main body 2, a screw rod 3, a moving motor 4, a moving mechanism 5, a moving gear 501, a connecting block 502, a fixing block 503, a moving rack 504, a beam 6, a shell 7, a rotating motor 8, a rotating mechanism 9, a rotating input gear 901, a rotating belt 902, a rotating output gear 903 and a rotating block 904, the device comprises a rotating arm 10, a first motor 1001, a first output gear 1002, a first output shaft 1003, a rotating shaft 1004, a first input gear 1005, a steel wire rope 1006, a winding drum 1007, a visual gripper 11, a visual sensor 1101, a fixed disc 1102, a connecting arm 1103, an extension shaft 1104, a clamping block 1105, a sliding block 1106, a fixing piece 1107, a first rotating shaft 1108, a connecting piece 1109, a second rotating shaft 1110, a connecting disc 1111, an air cylinder 1112, a support frame 12 and a sliding body 13.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.

A visual sensing gripper capable of rotating and lifting and a gripping method thereof comprise the following steps: a base 1, a lifting output gear 101, a bottom plate 102, a fixing plate 103, a lifting input gear 104, a lifting belt 105, a lifting motor 106, a main body 2, a screw rod 3, a moving motor 4, a moving mechanism 5, a moving gear 501, a connecting block 502, a fixing block 503, a moving rack 504, a beam 6, a shell 7, a rotating motor 8, a rotating mechanism 9, a rotating input gear 901, a rotating belt 902, a rotating output gear 903 and a rotating block 904, the device comprises a rotating arm 10, a first motor 1001, a first output gear 1002, a first output shaft 1003, a rotating shaft 1004, a first input gear 1005, a steel wire rope 1006, a winding drum 1007, a visual gripper 11, a visual sensor 1101, a fixed disc 1102, a connecting arm 1103, an extension shaft 1104, a clamping block 1105, a sliding block 1106, a fixing piece 1107, a first rotating shaft 1108, a connecting piece 1109, a second rotating shaft 1110, a connecting disc 1111, an air cylinder 1112, a support frame 12 and a sliding body 13.

Wherein, the top of support frame 12 is equipped with casing 7, casing 7 lock joint crossbeam 6, just crossbeam 6 also can be regarded as the balancing weight, has saved the space more, the lateral part of crossbeam 6 is equipped with moving mechanism 5, the below of moving mechanism 5 is equipped with moving motor 4, moving mechanism 5 is including setting up the output shaft at moving motor 4 tip, cup joints the removal gear 501 of output shaft, with the removal rack 504 that moves gear 501 meshing, set up the connecting block 502 at removal rack 504 both ends to and set up the fixed block 503 at removal rack 504 lateral part.

The lateral part of mobile motor 4 is equipped with main part 2, the below of main part 2 is equipped with base 1, base 1 top is equipped with elevator motor 106, the inside of base 1 is equipped with main part 2 elevating system, main part 2 elevating system pierces through at the inside bottom plate 102 of base 1 including setting up the lift output gear 101 of bottom plate 102, the lift input gear 104 of being connected with lift output gear 101 transmission, sets up at the fixed plate 103 of lift input gear 104 below, pierces through lead screw 3 that fixed plate 103 and lift input gear 104 pegged graft to and set up at 3 tip of lead screw and with main part 2 sliding connection's sliding part.

The sliding part comprises a sliding body 13 buckled with the main body 2, a plurality of groups of rollers are arranged between the main body 2 and the sliding body 13, and the sliding body 13 is fixedly connected with the cross beam 6.

The end of the main body 2 is provided with a rotating mechanism 9, a rotating arm 10 is arranged above the rotating mechanism 9, the rotating mechanism 9 is connected with a rotating motor 8, the rotating mechanism 9 comprises an input shaft arranged at the end of the rotating motor 8, a rotating input gear 901 sleeved with the input shaft, a rotating output gear 903 in transmission connection with the rotating input gear 901, and a rotating plate 904 arranged below the rotating output gear 903.

The inside of the rotating arm 10 is provided with a gripper lifting mechanism, the gripper lifting mechanism comprises a first motor 1001 arranged inside the rotating arm 10, a first output shaft 1003 arranged on the side part of the first motor 1001, a first output gear 1002 sleeved with the first output shaft 1003, a first input gear 1005 meshed with the first output gear 1002, a rotating shaft inserted with the first input gear 1005, a winding drum 1007 sleeved with the rotating shaft, and a visual gripper 11 connected with the winding drum 1007 in a rolling manner; a steel wire rope 1006 is arranged between the rotating shaft inserted rotating arm 10, the winding drum 1007 and the visual hand grip 11.

One end of the steel wire rope 1006 is fixedly connected with a visual hand grip 11, the visual hand grip 11 comprises a connecting disc 1111 fixedly connected with the steel wire rope 1006, the book searching connecting disc 1111 is a round object, a connecting piece 1109 is arranged on the periphery of the connecting disc 1111, the connecting piece 1109 is connected with a connecting arm 1103, a second rotating shaft 1110 is arranged between the connecting arm 1103 and the connecting piece 1109, the end portion of the connecting arm 1103 is connected with a fixing piece 1107, a first rotating shaft 1108 is arranged between the fixing piece 1107 and the connecting arm 1103, the fixing piece 1107 is movably connected with a sliding block 1106, a fixed disc 1102 is arranged below the sliding block 1106, a visual sensor 1101 is arranged at the position of the circle center of the fixed disc 1102, a cylindrical groove is formed on the periphery of the visual sensor 1101, an air cylinder 1112 is arranged between the fixed disc 1102 and the connecting disc 1106, an extending shaft 1104 is arranged on the, the surface layer of the clamp block 1105 is provided with an anti-slip layer.

A rotating belt 902 is arranged between the rotating input gear 901 and the rotating output gear 903, and an elevating belt 105 is arranged between the elevating output gear 101 and the elevating input gear 104.

When the vision tongs 11 need snatch the object, carry out the position control to vision tongs 11 by 2 elevating system of main part, moving mechanism 5, rotary mechanism 9 and tongs elevating system, 2 lifting unit drive main part 2 of main part go up and down, and concrete process is as follows: rotate by elevator motor 106, drive lift output gear 101 and rotate, and then drive the lift input gear 104 of being connected with lift output gear 101 transmission and rotate, and then drive the lead screw 3 of grafting lift output gear 101 and rotate, and then make main part 2 slide in sliding mass 13 is inside, accomplish the elevating movement of main part 2, moving mechanism 5 drives main part 2 and carries out horizontal migration, and concrete process is as follows: by the rotation of mobile motor 4, the drive cup joints mobile gear 501 who cup joints mobile motor 4 output shaft and rotates, and then drives and remove rack 504 with mobile gear 501 meshing and remove, and then drives crossbeam 6 of being connected with fixed block 503 and carries out the horizontal migration, and then drives the main part 2 of being connected with crossbeam 6 and remove, and rotary mechanism 9 drives swinging boom 10 and rotates, and concrete process is as follows: rotating electrical machines 8 rotates, drives the rotatory input gear 901 that cup joints 8 input shafts of rotating electrical machines and rotates, and then drives the rotatory output gear 903 of being connected with the transmission of rotatory input gear 901 and rotates, and then drives the swinging boom 10 of pegging graft with rotatory output gear 903 and rotates, accomplishes the rotatory work of swinging boom 10, and tongs elevating system drives vision tongs 11 and goes up and down, and specific process is as follows: drive first output shaft 1003 by first motor 1001 and rotate, and then drive the first output gear 1002 that cup joints first output shaft 1003 and rotate, and then drive the first input gear 1005 with first output gear 1002 meshing and rotate, and then drive the axis of rotation 1004 of pegging graft first input gear 1005 and rotate, and then drive the reel 1007 that cup joints axis of rotation 1004 and rotate, and then roll up by reel 1007, batch to wire rope 1006, advance the lift of accomplishing vision tongs 11, the concrete process of snatching of vision tongs 11 is as follows: the air cylinder 1112 is abutted against the fixed disc 1102 to move downwards to drive the fixed disc 1102 to move downwards, at the moment, the connecting arm 1103 rotates along the second rotating shaft 1110 to drive the fixing piece 1107 to slide inwards along the sliding block 1106 to abut against the extending shaft 1104 to slide inwards along the sliding block 1106, the clamping block 1105 is abutted against an object to be grabbed, the grabbing process of the visual hand grip 11 is completed, in the grabbing process of the visual hand grip 11, the visual sensor 1101 arranged at the center of the circle of the fixed disc 1102 senses the surrounding environment of the object to be grabbed in real time, and therefore an operator can conveniently keep away from or clamp the object in a dark place. According to the invention, the visual sensor is designed in the mechanical gripper, so that the mechanical gripper can finish work independently even if the light at the position for gripping an object is insufficient or the mechanical gripper is far away from an operator, and the mechanical gripper does not need to be matched by multiple people to finish the work, thereby saving the cost and reducing the labor force.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the embodiments, and various equivalent changes can be made to the technical solution of the present invention within the technical idea of the present invention, and these equivalent changes are within the protection scope of the present invention.

Claims (4)

1. The utility model provides a visual sensing tongs that can rotate lift which characterized in that includes:

the base assembly comprises a support frame, a base arranged on the side part of the support frame, a main body connected with the base and a rotating arm arranged above the main body;

the movable lifting rotating assembly comprises a shell arranged above the supporting frame, a cross beam buckled with the shell, a moving mechanism arranged below the cross beam, a moving motor connected with the moving mechanism, a main body lifting mechanism arranged in the base, a rotating mechanism arranged at the end part of the main body and a rotating motor connected with the rotating mechanism;

the lifting visual gripper assembly comprises a gripper lifting mechanism arranged in the rotating arm, a connecting disc connected with the gripper lifting mechanism, connecting pieces arranged around the connecting disc, a connecting arm movably connected with the connecting pieces, a fixing piece arranged at the end part of the connecting arm, a sliding block movably connected with the fixing piece, a fixed disc fixedly connected with the sliding block, a visual sensor arranged at the center of a circle of the fixed disc, and an air cylinder arranged between the fixed disc and the connecting disc;

the moving mechanism comprises an output shaft arranged at the end part of the moving motor, a moving gear sleeved with the output shaft, a moving rack meshed with the moving gear, connecting blocks arranged at two ends of the moving rack and fixing blocks arranged at the side parts of the moving rack; the gripper lifting mechanism comprises a first motor arranged in the rotating arm, a first output shaft arranged on the side part of the first motor, a first output gear sleeved with the first output shaft, a first input gear meshed with the first output gear, a rotating shaft inserted with the first input gear, a winding drum sleeved with the rotating shaft, and a visual gripper rolled and connected with the winding drum; steel wire ropes are arranged among the rotating shaft inserting rotating arms, the winding drum and the visual grippers;

a second rotating shaft is arranged between the connecting piece and the connecting arm, and a first rotating shaft is arranged between the connecting arm and the fixing piece;

the main body lifting mechanism comprises a bottom plate arranged in the base, a lifting output gear penetrating through the bottom plate, a lifting input gear in transmission connection with the lifting output gear, a fixing plate arranged below the lifting input gear, a screw rod penetrating through the fixing plate and inserted into the lifting input gear, and a sliding part arranged at the end part of the screw rod and in sliding connection with the main body; the rotating mechanism comprises an input shaft arranged at the end part of the rotating motor, a rotating input gear sleeved with the input shaft, a rotating output gear in transmission connection with the rotating input gear, and a rotating plate arranged below the rotating output gear.

2. The rotary liftable visual sensing hand grip of claim 1, wherein: the sliding part comprises a sliding body buckled with the main body, and a plurality of groups of rollers are arranged between the main body and the sliding body.

3. The rotary liftable visual sensing hand grip of claim 1, wherein: an extending shaft is arranged on the side portion of the sliding block, a clamping block is arranged at the end portion of the extending shaft, and an anti-slip layer is arranged on the surface layer of the clamping block.

4. The method of grabbing a rotatably liftable visual sensing gripper according to claim 1, comprising:

s1: when the visual gripper needs to grip an object, the position of the visual gripper is adjusted by the main body lifting mechanism, the moving mechanism, the rotating mechanism and the gripper lifting mechanism;

s2: the main part lifting unit drives the main part to go up and down, and the concrete process is as follows: the lifting motor rotates to drive the lifting output gear to rotate, further drives the lifting input gear in transmission connection with the lifting output gear to rotate, further drives the screw rod inserted with the lifting output gear to rotate, further enables the main body to slide in the sliding body, and completes the lifting movement of the main body;

s3: the moving mechanism drives the main body to move horizontally, and the specific process is as follows: the moving gear sleeved with the output shaft of the moving motor is driven to rotate by the rotation of the moving motor, so that the moving rack meshed with the moving gear is driven to move, the cross beam connected with the fixed block is driven to horizontally move, and the main body connected with the cross beam is driven to move;

s4: the rotating mechanism drives the rotating arm to rotate, and the specific process is as follows: the rotating motor rotates to drive a rotating input gear sleeved with an input shaft of the rotating motor to rotate, and further drives a rotating output gear in transmission connection with the rotating input gear to rotate, so as to drive a rotating arm in plug connection with the rotating output gear to rotate, and thus the rotating arm rotates;

s5: tongs elevating system drives the vision tongs and goes up and down, and specific process is as follows: the first motor drives the first output shaft to rotate, so as to drive the first output gear sleeved with the first output shaft to rotate, further drive the first input gear meshed with the first output gear to rotate, further drive the rotating shaft inserted with the first input gear to rotate, further drive the winding drum sleeved with the rotating shaft to rotate, further roll by the winding drum, perform winding on the steel wire rope, and further complete lifting of the visual gripper;

s6: the specific grabbing process of the visual gripper is as follows: support the fixed disk by the cylinder and carry out the downstream, and then drive the fixed disk downstream, the linking arm will rotate along the second rotation axis this moment, and then drive the mounting along inwards advancing the slip to the slider, and then support the extension shaft and inwards slide along the slider, support the object that needs snatched by the clamp splice, accomplish the process of snatching of vision tongs, at the in-process of snatching of vision tongs, the vision sensor that sets up in fixed disk centre of a circle department will real-time sensing snatch the all ring edge borders of object, in order to make things convenient for the operator to keep away from or press from the work of getting the object in dark department.

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