CN112207803A

CN112207803A - Mechanical positioning mechanism of vision guide tongs

Info

Publication number: CN112207803A
Application number: CN202011079594.1A
Authority: CN
Inventors: 刘凡
Original assignee: Suzhou Haitaichi Automation Technology Co ltd
Current assignee: Suzhou Haitaichi Automation Technology Co ltd
Priority date: 2020-10-10
Filing date: 2020-10-10
Publication date: 2021-01-12

Abstract

The invention discloses a mechanical positioning mechanism of a vision guide gripper, relates to the technical field of grippers and aims to solve the problem that an existing robot gripper is difficult to accurately grip when taking parts from a material rack. The stand is installed to the upper end of tongs frame, tongs frame and stand fixed connection, the externally mounted of stand has fixed chuck, the curb plate is installed to one side of fixed chuck, the CCD camera is installed to the lower extreme of curb plate, telecentric lens is installed to the lower extreme of CCD camera, the internally mounted of stand has the cylinder, the head rod is installed to the lower extreme of cylinder, the second connecting rod is all installed at the both ends of head rod, the tongs is installed to the lower extreme of second connecting rod, the tongs includes the clamping part.

Description

Mechanical positioning mechanism of vision guide tongs

Technical Field

The invention relates to the technical field of grippers, in particular to a mechanical positioning mechanism for a visual guide gripper.

Background

Under the global automation development trend, more and more industrial robot bodies are put into the production line. Industrial robots can guarantee product quality, improve production efficiency, avoid a large amount of industrial accidents simultaneously, promote the process of enterprise modernization development, and in modern manufacturing industry, industrial robots are widely applied to various production demands. The gripper can not only liberate workers from complicated labor tasks, but also improve the quality of products and the automation level of a production line, greatly improve the working efficiency, and has simple structure, easy manufacture and wider application.

However, the existing robot gripper is difficult to accurately grip when taking parts from the material rack, so that the existing requirements are not met, and a mechanical positioning mechanism for visually guiding the gripper is provided.

Disclosure of Invention

The invention aims to provide a mechanical positioning mechanism of a visual guide gripper, which aims to solve the problem that the existing robot gripper in the background technology is difficult to accurately grip when taking parts from a material rack.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a mechanical positioning mechanism of vision guide tongs, includes the tongs frame, the stand is installed to the upper end of tongs frame, tongs frame and stand fixed connection, the externally mounted of stand has fixing chuck, the curb plate is installed to one side of fixing chuck, the CCD camera is installed to the lower extreme of curb plate, telecentric lens is installed to the lower extreme of CCD camera, the internally mounted of stand has the cylinder, the head rod is installed to the lower extreme of cylinder, the second connecting rod is all installed at the both ends of head rod, the tongs is installed to the lower extreme of second connecting rod, the tongs includes the clamping part.

Preferably, the inner side of the clamping part is provided with an anti-skid and anti-wear layer.

Preferably, the clamping part is connected with the anti-slip and anti-wear layer in a gluing mode.

Preferably, the first connecting rod is connected with the second connecting rod through a first rotating shaft, the second connecting rod is connected with the gripper frame through a second rotating shaft, and the gripper frame pass through a third rotating shaft.

Preferably, the fixed chuck is connected with the side plate through a bolt.

Preferably, the cylinder is connected with the upright post through a screw.

Preferably, the second connecting rod is connected with the hand grip in a welding mode.

Compared with the prior art, the invention has the beneficial effects that:

1. according to the invention, the CCD camera and the telecentric lens are additionally arranged on the gripper mechanism to form a visual guide positioning system, the spatial three-dimensional position of the part is obtained by adopting a camera photographing mode, the 3D positioning of the part under a sensor coordinate system is realized by identifying, extracting and matching the features such as holes or angular points and the like and combining the relative position information among the features, and then the robot is guided to realize the gripping of the part, so that the robot gripper can accurately grip the part from the material rack.

2. According to the invention, the first connecting rod is driven by the working of the air cylinder, and then the second connecting rod is driven by the first connecting rod, so that the two clamping parts are close to or far away from each other, thus the grabbing and discharging actions are realized, the structure is simple, and the visual guide positioning mechanism can be independently disassembled, thereby being beneficial to maintenance.

Drawings

FIG. 1 is an overall front view of a mechanical positioning mechanism of a vision-guided hand grip of the present invention;

FIG. 2 is a schematic structural view of a column of the present invention;

fig. 3 is a partially enlarged view of region a of the present invention.

In the figure: 1. a gripper frame; 2. a column; 3. fixing the chuck; 4. a side plate; 5. a CCD camera; 6. a telecentric lens; 7. a cylinder; 8. a first connecting rod; 9. a second connecting rod; 10. a gripper; 11. a clamping portion; 12. an anti-slip and anti-wear layer; 13. a first rotating shaft; 14. a second rotating shaft; 15. and a third rotating shaft.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Referring to fig. 1-3, an embodiment of the present invention is shown: a mechanical positioning mechanism of a visual guide gripper comprises a gripper frame 1, wherein an upright post 2 is installed at the upper end of the gripper frame 1, the gripper frame 1 is fixedly connected with the upright post 2, a fixing chuck 3 is installed outside the upright post 2, a side plate 4 is installed on one side of the fixing chuck 3, a CCD camera 5 is installed at the lower end of the side plate 4, a telecentric lens 6 is installed at the lower end of the CCD camera 5, a visual guide positioning system is formed by the CCD camera 5 and the telecentric lens 6 together, the spatial three-dimensional position of a part is obtained by adopting a camera shooting mode, 3D positioning of the part under a sensor coordinate system is realized by identifying, extracting and matching features such as holes or angular points and the like, and relative position information among the features is combined, so that visual guide positioning is provided for a gripper 10, an air cylinder 7 is installed inside the upright post 2, a first connecting rod 8 is installed at the lower end of the air cylinder, tongs 10 are installed to the lower extreme of second connecting rod 9, and tongs 10 includes clamping part 11, and cylinder 7 work drives the motion of head rod 8, and rethread head rod 8 drives second connecting rod 9 for two clamping parts 11 of tongs 10 lower extreme are close to each other or are kept away from, thereby realize the action of the blowing of snatching to the part.

Further, the inboard of clamping part 11 is provided with anti-skidding abrasionproof layer 12, increases the contact frictional force between clamping part 11 and the part on the one hand, and on the other hand plays the effect of buffering, avoids causing the damage to the part, improves the security of clamping in-process.

Furthermore, the clamping part 11 is connected with the antiskid and anti-abrasion layer 12 in a gluing way, the utilization rate of materials is high, the cost is low, the stress concentration on all gluing surfaces is small, and therefore the anti-fatigue performance is good, and the sealing performance, the insulating performance and the corrosion resistance are good.

Further, the first connecting rod 8 is connected through first pivot 13 with the second connecting rod 9, the second connecting rod 9 is connected through second pivot 14 with tongs frame 1, tongs 10 passes through third pivot 15 with tongs frame 1, the mechanical linkage of action is snatched in the realization, make 7 work of cylinder drive the motion of first connecting rod 8, rethread first connecting rod 8 drives second connecting rod 9, two clamping part 11 of tongs 10 lower extreme are close to each other or keep away from, thereby realize snatching the blowing action to the part.

Further, the fixed chuck 3 and the side plate 4 are connected through bolts, so that the visual guide positioning mechanism can be detached independently, and maintenance is facilitated.

Further, the cylinder 7 is connected with the upright post 2 through screws, so that the connection mode is simple, and replacement and maintenance are facilitated.

Furthermore, the second connecting rod 9 is connected with the hand grip 10 in a welding mode, the air tightness and the water tightness of the welding connection are good, the structural rigidity is also large, the structural integrity is good, labor and time are saved, the sectional area of materials is not reduced, and the materials are fully utilized.

The working principle is as follows: when the vision guiding and positioning system is used, the CCD camera 5 and the telecentric lens 6 jointly form the vision guiding and positioning system, the space three-dimensional position of a part is obtained by adopting a camera shooting mode, the 3D positioning of the part under a sensor coordinate system is realized by identifying, extracting and matching features such as holes or angular points and the like and combining relative position information among the features, the vision guiding and positioning are provided for the gripper 10, after the positioning is finished, the air cylinder 7 works to drive the first connecting rod 8 to move, and then the first connecting rod 8 drives the second connecting rod 9, so that the two clamping parts 11 at the lower end of the gripper 10 are close to or far away from each other, the grabbing and placing actions of the part are realized, when the part is grabbed, the anti-skid and anti-abrasion layer 12 at the inner side of the clamping part 11 is contacted with the part, on one hand, the contact friction force between the clamping part 11 and, the safety in the clamping process is improved.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. The utility model provides a mechanical positioning mechanism of vision guide tongs, includes tongs frame (1), its characterized in that: stand (2) are installed to the upper end of tongs frame (1), tongs frame (1) and stand (2) fixed connection, the externally mounted of stand (2) has fixing chuck (3), curb plate (4) are installed to one side of fixing chuck (3), CCD camera (5) are installed to the lower extreme of curb plate (4), telecentric lens (6) are installed to the lower extreme of CCD camera (5), the internally mounted of stand (2) has cylinder (7), head rod (8) are installed to the lower extreme of cylinder (7), second connecting rod (9) are all installed at the both ends of head rod (8), tongs (10) are installed to the lower extreme of second connecting rod (9), tongs (10) are including pressing from both sides tight portion (11).

2. The mechanical positioning mechanism of the visual guide gripper of claim 1, wherein: and an anti-slip and anti-wear layer (12) is arranged on the inner side of the clamping part (11).

3. The mechanical positioning mechanism of the visual guide gripper of claim 2, wherein: the clamping part (11) is connected with the anti-skid and anti-wear layer (12) in a gluing way.

4. The mechanical positioning mechanism of the visual guide gripper of claim 1, wherein: the gripper is characterized in that the first connecting rod (8) is connected with the second connecting rod (9) through a first rotating shaft (13), the second connecting rod (9) is connected with the gripper frame (1) through a second rotating shaft (14), and the gripper (10) is connected with the gripper frame (1) through a third rotating shaft (15).

5. The mechanical positioning mechanism of the visual guide gripper of claim 1, wherein: the fixed chuck (3) is connected with the side plate (4) through a bolt.

6. The mechanical positioning mechanism of the visual guide gripper of claim 1, wherein: the cylinder (7) is connected with the upright post (2) through a screw.

7. The mechanical positioning mechanism of the visual guide gripper of claim 1, wherein: the second connecting rod (9) is connected with the hand grip (10) in a welding mode.