CN112847308A

CN112847308A - Mechanism is got to counterpoint clamp based on visual identification

Info

Publication number: CN112847308A
Application number: CN202110004772.2A
Authority: CN
Inventors: 申文戎; 尹顺; 肖华; 梁德文; 姚海杰; 杨委
Original assignee: Guangdong Changhong Electronics Co Ltd
Current assignee: Guangdong Changhong Electronics Co Ltd
Priority date: 2021-01-04
Filing date: 2021-01-04
Publication date: 2021-05-28

Abstract

The invention discloses an alignment clamping mechanism based on visual identification, which comprises: a manipulator; the clamping platform comprises two opposite connecting surfaces and clamping surfaces and a convex frame positioned in the middle of the clamping platform, the connecting surfaces are connected with the hand of the manipulator, the convex frame is positioned on the clamping surfaces, a first slide rail and two groups of second slide rails which are perpendicular to each other are arranged on the clamping surfaces, and the two groups of second slide rails are oppositely arranged on the first slide rail and are in sliding connection with the first slide rail; the sucking disc is arranged on the convex frame and fixes the back plate under negative pressure; the clamping devices are arranged on the two groups of second sliding rails and are used for clamping the back plate; the first transmission device is in transmission connection with the second sliding rails, and the second sliding rails slide along the first sliding rails under the driving of the first transmission device so as to change the distance between the two groups of second sliding rails.

Description

Mechanism is got to counterpoint clamp based on visual identification

Technical Field

The invention relates to the field of automatic production, in particular to an alignment clamping mechanism based on visual identification.

Background

In the production process of the existing electronic product, some assembled parts are often required to be transferred to an automatic production line from a material vehicle or a material storage device, in the transfer process, some large parts often need the assistance of multiple workers, accidents occur during the transfer, and personnel damage is very easy to occur, so that the automatic transfer device is often required to transfer the parts. And when producing different products, its product size can change, and the size of its backplate 100 also changes thereupon, if adopt different anchor clamps, when the product change, anchor clamps also need be changed, and rectify, and is comparatively complicated, is unfavorable for the demand of quick production. When the product is adjusted, the product is often adjusted manually, the manual adjustment is time-consuming, the production is delayed, and the requirement of rapid production is not facilitated.

Referring to fig. 1 and 2, the periphery of the back plate 100 is provided with a protruding wall, and in the transferring process, the clamp is clamped on the protruding wall to clamp and fix the back plate 100.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides an alignment clamping mechanism based on visual identification, which can transfer materials on an automatic material vehicle to a production line.

The technical scheme adopted by the embodiment of the invention is as follows: a mechanism is got to counterpoint clamp based on visual identification includes: a manipulator; the clamping device comprises a clamping platform, a first clamping mechanism and a second clamping mechanism, wherein one surface of the clamping platform is a connecting surface, the other surface of the clamping platform is a clamping surface, the connecting surface is connected with a hand part of the manipulator, a convex frame is arranged in the middle of the clamping surface, a first sliding rail and two groups of second sliding rails are arranged on the clamping surface, the first sliding rail and the second sliding rails are mutually vertical, and the two groups of second sliding rails are oppositely arranged on the first sliding rail and are in sliding connection with the first sliding rail; the sucking disc is arranged on the convex frame and used for fixing the back plate under negative pressure; the clamping devices are arranged on the two groups of second sliding rails and used for clamping the back plate; the first transmission device is in transmission connection with the second sliding rails, and the second sliding rails slide along the first sliding rails under the driving of the first transmission device so as to change the distance between the two groups of second sliding rails; the control system comprises a control unit and a visual identification unit, the control unit, the visual identification unit and the first transmission device are electrically connected, and the visual identification unit is used for measuring the distance between the back plate and the clamping device in real time.

The alignment clamping mechanism based on visual identification provided by the embodiment of the invention at least has the following beneficial effects:

1. the material trolley is adsorbed in the back plate through the suction disc under negative pressure, the clamping device clamps the side wall of the back plate to fix the back plate on the clamping platform, and the clamping platform is transferred through the manipulator after the back plate is fixed, so that the purpose of transferring the back plate is achieved, for example, the back plate on the material trolley is transferred to a production line, the risk of manual carrying is reduced, and the material trolley is safer to use;

2. the relative positions of the two groups of second sliding rails on the first sliding rails are adjusted by adjusting the first transmission device, so that the clamping devices on the second sliding rails can clamp the back plates with different sizes without replacing a clamp, and the use is more convenient;

3. the position of the second sliding rails is monitored in real time through the visual recognition unit, when the size of the backboard changes, the distance between the two second sliding rails also changes along with the change of the size of the backboard, so that the clamping devices on the second sliding rails are always aligned with the convex wall of the backboard, the visual recognition unit monitors and measures the distance between the backboard and the clamping devices in real time, the control unit sends a signal to the first transmission device according to the data measured by the visual recognition unit, the relative positions of the two second sliding rails are adjusted, the clamping devices on the second sliding rails are aligned with the convex wall of the backboard, the real-time automatic adjustment is realized, the consumed time is less when the size of the backboard is changed, and the production efficiency is improved.

According to some embodiments of the invention, the visual recognition unit comprises a camera and a light source, the camera and the light source are arranged on the clamping surface of the clamping platform, the camera is located in the middle of the clamping platform, and the light source is arranged adjacent to the camera.

According to some embodiments of the present invention, the first transmission device is a track transmission device, two sets of the second sliding rails are oppositely disposed on the first sliding rail and are respectively in transmission connection with one side of the track of the first transmission device, and the second sliding rails are driven by the first transmission device to move in opposite directions.

According to some embodiments of the present invention, the device further includes a second transmission device, the second transmission device is in transmission connection with the clamping device, the clamping device slides along the second sliding rail under the driving of the second transmission device, and the second transmission device is electrically connected with the control unit and the visual recognition unit.

According to some embodiments of the present invention, the second transmission device is a track transmission device, and the two clamping devices are disposed on the second slide rail on the same side, and are in transmission connection with the same side of the track of the second transmission device, and are driven by the second transmission device to move in the same direction.

According to some embodiments of the invention, the second transmission device is a track transmission device, and the two clamping devices are oppositely arranged on the second slide rail on the same side and are respectively in transmission connection with one side of the track of the second transmission device, and are driven by the second transmission device to move in opposite directions.

According to some embodiments of the invention, the clamping platform comprises a plurality of connecting rods with X-shaped cross sections, the angular points and the central points of the X-shaped cross sections of the connecting rods are provided with lightweight reinforcing holes, the angular points of the connecting rods are provided with L-shaped supporting rods, the four supporting rods and the extension lines thereof enclose a rectangle, and a first mounting groove is formed between the supporting rods and the connecting rods.

According to some embodiments of the invention, a second installation groove is formed above the suction cup, the protruding frame is formed by splicing a plurality of connecting rods, the suction cup is connected with the connecting rod at the protruding part of the protruding frame, and the second installation groove is perpendicular to the first installation groove of the connecting rod connected with the suction cup.

According to some embodiments of the invention, the connecting rod is an aluminum profile.

According to some embodiments of the invention, two ends of the first slide rail are respectively provided with a stop block.

According to some embodiments of the present invention, a baffle is disposed on the clamping device, two photoelectric sensors are disposed on the second sliding rail, the photoelectric sensors are disposed at two ends of a moving path of the baffle, and the baffle blocks optical signals of the photoelectric sensors.

According to some embodiments of the invention, the second slide rail is provided with a blocking post, and the blocking post is arranged on a moving path of the clamping device.

According to some embodiments of the invention, the clamping device comprises two oppositely arranged clamping plates and a pneumatic device, the clamping plates are in transmission connection with the pneumatic device, and the two clamping plates move in opposite directions under the driving of the pneumatic device.

According to some embodiments of the present invention, a sliding block and a connecting plate are fixedly connected between the second sliding rail and the first sliding rail, the sliding block is slidably connected to the first sliding rail, the connecting plate is disposed below the sliding block, and the second sliding rail is disposed below the connecting plate.

According to some embodiments of the invention, a blocking column is arranged beside the second sliding rail, and the blocking column is connected with the connecting plate.

According to some embodiments of the invention, a barometer is provided on the suction cup.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a schematic view of a backing plate;

FIG. 2 is a schematic view of a back plate clamping;

FIG. 3 is a schematic view of an alignment clamping mechanism based on visual recognition according to an embodiment of the present invention;

FIG. 4 is a schematic view of a gripping member of an alignment gripping mechanism based on visual recognition according to an embodiment of the present invention;

FIG. 5 is a partial schematic view of the photoelectric sensor shown in part A of FIG. 4;

FIG. 6 is a partial schematic view of the lightweight connecting rod of portion B of FIG. 4;

fig. 7 is a schematic top view of a gripping member of an alignment gripping mechanism based on visual recognition according to an embodiment of the present invention;

fig. 8 is a schematic view illustrating the second slide rail of the alignment clamping mechanism based on visual recognition being mounted on two sides of the first slide rail according to the embodiment of the present invention;

fig. 9 is a schematic view illustrating that the aligning and clamping mechanism clamping device based on visual identification is installed on the same side of the second slide rail according to the embodiment of the present invention.

Reference numerals:

100-a back plate;

200-a manipulator;

300-a gripping platform; 310-a convex frame; 320-a first sliding rail; 321-a barrier; 330-a second slide rail; 331-a blocking column; 332-a slide block; 333-connecting plate; 340-connecting rod; 341-strut;

400-a sucker;

500-a clamping device; 510-a baffle; 520-a photoelectric sensor;

600-a first transmission;

700-a second transmission;

800-a visual recognition unit; 810-camera; 820-light source.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.

In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

Referring to fig. 2, 3, 4 and 7, in some embodiments of the present invention, an alignment clamping mechanism based on visual recognition comprises:

a manipulator 200;

the clamping platform 300 is provided with a connecting surface and a clamping surface, the connecting surface is connected with the hand part of the manipulator 200, the middle part of the clamping surface is provided with a convex frame 310, the clamping surface is provided with a first slide rail 320 and two groups of second slide rails 330, the first slide rail 320 and the second slide rails 330 are mutually vertical, and the two groups of second slide rails 330 are oppositely arranged on the first slide rail 320 and are connected with the first slide rail 320 in a sliding way;

the suction cup 400, the suction cup 400 is arranged on the convex frame 310 for fixing the backboard 100 under negative pressure;

the clamping devices 500 are arranged on the two groups of second sliding rails 330, and the clamping devices 500 are used for clamping the backboard 100;

the first transmission device 600 is in transmission connection with the second slide rails 330, and the second slide rails 330 slide along the first slide rails 320 under the driving of the first transmission device 600 to change the distance between the two sets of the second slide rails 330;

the control system comprises a control unit and a visual identification unit 800, the control unit, the visual identification unit 800 and the first transmission device 600 are electrically connected, and the visual identification unit 800 is used for measuring the distance between the backboard 100 and the clamping device 500 in real time.

Specifically, the embodiment is as follows: taking the example of the backplane 100 being transferred to the production line, it should be understood that this embodiment is only for convenience of understanding, and does not mean that the present invention is limited to this implementation.

First, the clamping platform 300 is moved to the upper side of the material pile by the robot 200, and the robot 200 descends to lower the clamping platform 300 until the suction cup 400 and the clamping device 500 contact with the designated position of the back plate 100.

During the descending process, the relative positions of the two sets of second sliding rails 330 on the first sliding rails 320 are adjusted by adjusting the first transmission device 600, so as to adjust the relative positions of the clamping devices 500 on the two sets of second sliding rails 330, and the positions of the clamping devices 500 are aligned with the clamped position of the backboard 100.

After the descending is completed, the sucking disc 400 sucks the backboard 100 through negative pressure, the clamping device 500 clamps the backboard 100, so that the backboard 100 is completely fixed, and then the mechanical arm 200 moves the backboard 100 to the production line to realize the transferring process of the backboard 100.

When the manipulator 200 completes one clamping step and clamps again or the size of the backboard 100 changes, the manipulator 200 repositions the backboard 100 on the material stack through the visual recognition unit 800 above the material stack, so that the clamping platform 200 is flush with the backboard 100 on the material stack, failure in clamping due to deviation of the position of the backboard 100 is avoided, and the production precision is higher. And the relative positions of the two second sliding rails 330 are automatically adjusted according to the size of the backboard 100, so that the relative positions of the two second sliding rails 330 do not need to be manually adjusted, and the production efficiency is higher.

The backboard 100 is fixed through the sucker 400 and the clamping device 500, and the backboard 100 is transferred through the manipulator 200 after the fixing, so that the risk of manual carrying is reduced, and the use is safer; through adjusting the first transmission device 600, the relative positions of the two sets of second sliding rails 330 on the first sliding rail 320 are adjusted, so that the clamping devices on the second sliding rails 330 can clamp the back plates 100 with different sizes, and the use is more convenient without changing the clamp.

The position of the second sliding rail 330 is monitored in real time by the visual recognition unit 800, when the size of the backboard 100 changes, the distance between the two second sliding rails 330 also changes along with the change of the size of the backboard 100, so that the clamping device 500 on the second sliding rail 330 is always aligned with the convex wall of the backboard 100, the visual recognition unit 800 monitors and measures the distance between the backboard 100 and the clamping device 500 in real time, the control unit sends a signal to the first transmission device 600 according to the data measured by the visual recognition unit 800 to adjust the relative positions of the two second sliding rails 330, so that the clamping device 500 on the second sliding rail 330 is aligned with the convex wall of the backboard 100, and thus the real-time automatic adjustment is realized, the time consumption for replacing the size of the backboard 100 is reduced, and the production efficiency is improved.

Referring to fig. 7, in some embodiments of the present invention, the visual recognition unit 800 includes a camera 810 and a light source 820, the camera 810 and the light source 820 are disposed on the clamping surface of the clamping platform 300, the camera 810 is located in the middle of the clamping platform 300, and the light source 820 is disposed adjacent to the camera 810. The camera 810 can measure the distance between the backboard 100 and the clamping device 500 in real time, and the light source 820 can better assist the camera 810 in shooting. The light source 820 is a strip shape, so that the coverage of the light source 820 is wider.

Referring to fig. 4, 7 and 8, in some embodiments of the present invention, the first transmission device 600 is a track transmission device, the two sets of second sliding rails 330 are disposed on the first sliding rails 320 and are respectively connected to one side of the track of the first transmission device 600 in a transmission manner, and the second sliding rails 330 are driven by the first transmission device 600 to move in opposite directions.

Specifically, the embodiment is as follows: first transmission 600 is the track transmission, and the track is vertical to be set up and is pressing from both sides the middle part of getting platform 300, and the both ends of track are equipped with power wheel and drive wheel respectively, and the center pin of power wheel links to each other with motor output shaft transmission, and the outer lane of power wheel links to each other with the track transmission, and the outer lane of drive wheel links to each other with the track transmission.

When the two second sliding rails 330 are respectively disposed on one side of the track, the two second sliding rails 330 are driven by the track to move in opposite directions due to the opposite moving directions of the two sides of the track, so that the distance between the two second sliding rails 330 can be conveniently adjusted, and the two second sliding rails 330 can be more conveniently adapted to the backplates 100 with different sizes, so as to clamp the backplates 100 with different sizes.

Because the first transmission device 600 is a track transmission, when the two second sliding rails 330 are installed on the clamping platform 300 in a central symmetry manner, the two second sliding rails 330 are always in a central symmetry manner with respect to the clamping platform 300 during the reverse movement of the two second sliding rails 330. When the vision recognition unit 800 is positioned, the center position of the backboard 100 can be confirmed, and after the manipulator 200 transfers the clamping platform 300 to the center of the backboard 100; then, the distance from the center of the backboard 100 to the convex wall thereof is confirmed by the visual recognition unit 800, the distance that a second slide rail 330 needs to move is measured, the traveling distance of the track can be confirmed according to the number of turns of the power wheel, so as to confirm the moving distance of the second slide rail 330, the second slide rail 330 is moved to the position above the convex wall of the backboard 100, and the clamping device 500 on the second slide rail 330 is aligned with the convex wall of the backboard 100, because of the centrosymmetric design, the other second slide rail 330 also reaches the position above the convex wall of the other side of the backboard 100, the position of the other second slide rail 330 can be confirmed by the visual recognition unit 800, so as to ensure that the clamping device 500 on the second slide rail 330 is aligned with the convex wall of the backboard 100, and after the confirmation is completed, the backboard 100 can be clamped.

In the clamping process, the vision recognition unit 800 only needs to confirm the central position of the clamping platform 300 and the position of the second slide rail 330, so that the back plate 100 can be clamped, the data required to be confirmed for clamping is less, the positioning is accurate, and the production and the use are more convenient.

Referring to fig. 4, 7 and 9, in some embodiments of the present invention, the present invention further includes a second transmission device 700, the second transmission device 700 is in transmission connection with the clamping device 500, the clamping device 500 slides along the second sliding rail 330 under the driving of the second transmission device 700, and the second transmission device 700 is electrically connected with the control unit and the visual recognition unit 800.

Specifically, after the data measured by the visual recognition unit 800 is fed back to the control unit, the control unit sends a signal to control the movement of the second transmission device 700, so as to adjust the position of the clamping device 500 on the second sliding rail 330, so that the clamping device 500 can move along with the change of the position of the backboard 100, and the clamping device 500 can be aligned with the designated clamping position of the backboard 100, so that the center of gravity of the backboard 100 when clamped is more stable, which is more beneficial to the realization of the clamping process.

Referring to fig. 4, 7 and 9, in some embodiments of the present invention, the second transmission device 700 is a track transmission device, and the two clamping devices 500 are disposed on the second slide rail 330 on the same side, and are in transmission connection with the same side of the track of the second transmission device 700, and driven by the second transmission device 700 to move in the same direction.

Specifically, the embodiment is as follows: the second transmission device 700 is also a track transmission, and the specific transmission mode is the same as the track transmission of the first transmission device 600, and the structure is the same, which is not described again. However, when the two clamping devices 500 are located on the same side of the second transmission 700, the moving directions of the two clamping devices 500 are the same, and the traveling speed and the traveling distance are the same, so that the distance between the two clamping devices 500 is kept constant during the moving process.

Because the relative positions of the two clamping devices 500 on the same side of the track are kept unchanged, the relative position of the other clamping device 500 can be adjusted by adjusting the position of one clamping device 500, so that the two clamping devices 500 can be adjusted to positions which are symmetrical about the center of the backboard 100 more conveniently, the center of gravity of the backboard 100 is more stable, and clamping is facilitated.

After the distance between the two clamping devices 500 on the same side of the track is adjusted to be consistent with the backboard 100 with the minimum size, all the backboard 100 with the size larger than the minimum size can be clamped in the subsequent production process, the position between the two clamping devices 500 does not need to be adjusted again, and the actual manufacturing process is more convenient.

When the backboard 100 is clamped and placed on the assembly line, the backboard 100 is usually placed on a backboard bracket on the assembly line, so that the backboard 100 can be transferred more conveniently, and meanwhile, the surface of the backboard 100 cannot be scratched due to the movement of the assembly line; and in the process of transferring the backboard 100 to the backboard bracket, the movement of the assembly line is easy to generate deviation, so that the backboard bracket is easy to generate errors along the direction of the assembly line, the position of the assembly line moving direction of the backboard 100 needs to be adjusted, the direction of the assembly line is consistent with the direction of the second slide rail 330 through design, when the sucker 400 is loosened, the visual identification unit 800 determines the relative position of the backboard 100 and the backboard bracket, the visual identification unit 800 feeds data back to the control unit, the control unit controls the movement of the second transmission device 700, so that the two clamping devices 500 on the same side of the crawler move in the same direction, the backboard 100 on the clamping platform 300 is adjusted in the direction, and the positioning of the backboard 100 when being installed on the backboard bracket is more accurate.

In some embodiments of the present invention, the second driving device 700 is a track driving device, and the two clamping devices 500 are disposed on the second sliding rail 330 on the same side, and are respectively connected to one side of the track of the second driving device 700 in a driving manner, and driven by the second driving device 700 to move in opposite directions.

Specifically, the embodiment is as follows: the second transmission device 700 is also a track transmission, and the specific transmission mode is the same as the track transmission of the first transmission device 600, and the structure is the same, which is not described again.

When the two clamping devices 500 are respectively disposed on two sides of the track, the two clamping devices 500 are driven by the track to move in opposite directions due to the opposite moving directions of the tracks on the two sides, so as to adjust the relative positions of the two clamping devices 500 along the direction of the second slide rail 330, and more conveniently adapt to the backplates 100 with different sizes, so as to clamp the backplates 100 with different sizes.

And because of adopting the caterpillar drive, the moving distances of the two clamping devices 500 are the same, when the two clamping devices 500 are symmetrical about the center of the clamping platform 300 after being installed, in the subsequent moving process of the two clamping devices 500, the two clamping devices 500 are also symmetrical about the center of the clamping platform 300, that is, when only the clamping platform 300 needs to be adjusted to be aligned with the backboard 100, the clamping positions of the clamping devices 500 are symmetrical about the center of the backboard 100, so that the center of gravity of the backboard 100 is more stable.

Referring to fig. 4, 6 and 7, in some embodiments of the present invention, the gripping platform 300 includes a plurality of "X" shaped connecting rods 340, the plurality of connecting rods 340 surround to form a rectangle, a lightweight reinforced hole is provided at a connection point between an end point of the connecting rod 340 and a center thereof, a support 341 having a shape of "L" is provided at an end point of the connecting rod 340, four support 341 and an extension line thereof surround to form a rectangle, and the support 341 and the connecting rod 340 directly form a first mounting groove. Make all be equipped with first mounting groove on the four sides of connecting rod 340, more convenient equipment, and adopt lightweight design, alleviate when guaranteeing structural strength and press from both sides the weight of getting platform 300 for manipulator 200's bearing burden is littleer, uses more accurately, and life is more permanent.

Referring to fig. 7, in some embodiments of the present invention, a second installation groove is formed above the suction cup 400, the ledge 310 is formed by splicing a plurality of the connection rods 340, the suction cup 400 is connected to the connection rod 340 at the protruding portion of the ledge 310, and the second installation groove is perpendicular to the first installation groove of the connection rod 340 connected thereto. So that the sucking disc 400 is convenient to install, disassemble and maintain, and the position of the sucking disc 400 is more convenient to adjust.

Specifically, when the suction cup 400 is slidably connected to the first mounting groove, the suction cup 400 does not need to be loosened during the process of mounting the backboard 100 to the backboard bracket, and the suction cup 400 can move along with the movement of the clamping device 500, so that the backboard 100 is more stable when the position of the backboard bracket is adjusted.

In some embodiments of the present invention, the connecting rod 340 is an aluminum profile. Use the aluminium alloy, further lightweight, it is more convenient to use.

Referring to fig. 4, in some embodiments of the present invention, the first slide rail 320 is provided with a stopper 321 at each of two ends thereof. The stopper 321 prevents the second slide rail 330 from sliding out of the first slide rail 320, so that the use is safer.

Referring to fig. 7, in some embodiments of the present invention, the second slide rail 330 is provided with a blocking post 331, and the blocking post 331 is disposed on a moving path of the clamping device 500. So that the clamping device 500 moves within a fixed moving range, which is more convenient in adjusting the distance.

Referring to fig. 4 and 5, in some embodiments of the invention, a baffle 510 is disposed on the clamping device 500, two photoelectric sensors 520 are disposed on the second sliding rail 330, the photoelectric sensors 520 are disposed at two ends of a moving path of the baffle 510, and the baffle 510 blocks optical signals of the photoelectric sensors 520.

When the clamping device 500 passes through the photoelectric sensor 520, the electric signal thereof can be transmitted to the controller, so that the second transmission device 700 does not work after the clamping device 500 passes through the photoelectric sensor 520, and the damage to the equipment caused by the continuous transmission of the second transmission device 700 when the clamping device 500 reaches the blocked position is avoided.

Meanwhile, when the clamping device 500 reaches the blocked position but does not reach the position corresponding to the backboard 100, the electric signal of the photoelectric sensor 520 is transmitted to the robot arm 200, so that the robot arm 200 moves, and the clamping device 500 can reach the position corresponding to the backboard 100.

Referring to fig. 4, in some embodiments of the present invention, the clamping device 500 includes two opposing clamping plates and a pneumatic device, the clamping plates are in transmission connection with the pneumatic device, and the two clamping plates are driven by the pneumatic device to move in opposite directions. The connection is more reliable by fixing the back plate 100 with two clamping plates.

Referring to fig. 4, in some embodiments of the present invention, a sliding block 332 and a connecting plate 333 are fixedly connected between the second sliding rail 330 and the first sliding rail 320, the sliding block 332 is slidably connected to the first sliding rail 320, the connecting plate 333 is disposed below the sliding block 332, and the second sliding rail 330 is disposed below the connecting plate 333. The secondary connection is made through a connection plate 333 to make the second phone easier to install.

Referring to fig. 7, in some embodiments of the present invention, a blocking post 331 is disposed beside the second sliding rail 330, and the blocking post 331 is connected to the connecting plate 333. So that the clamping device 500 moves within a fixed moving range, which is more convenient in adjusting the distance.

In some embodiments of the present invention, a barometer is provided on the suction cup 400. The pressure inside the suction cup 400 can be easily observed to ensure that the suction force of the suction cup 400 reaches a predetermined value.

The present invention is not limited to the above-described embodiments, and those skilled in the art can make equivalent modifications or substitutions without departing from the spirit of the present invention, and such equivalent modifications or substitutions are included in the scope defined by the claims of the present application.

Claims

1. The utility model provides a mechanism is got to counterpoint clamp based on visual identification which characterized in that includes:

a robot (200);

the clamping device comprises a clamping platform (300), wherein one surface of the clamping platform (300) is a connecting surface, the other surface of the clamping platform is a clamping surface, the connecting surface is connected with a hand part of the manipulator (200), a convex frame (310) is arranged in the middle of the clamping surface, a first sliding rail (320) and two groups of second sliding rails (330) are arranged on the clamping surface, the first sliding rail (320) and the second sliding rails (330) are perpendicular to each other, and the two groups of second sliding rails (330) are oppositely arranged on the first sliding rail (320) and are in sliding connection with the first sliding rail (320);

the sucking disc (400), the sucking disc (400) is set up on the said protruding shelf (310), in order to be used for the fixed backplate (100) of negative pressure;

the clamping devices (500) are arranged on the two groups of second sliding rails (330) respectively and used for clamping the back plate (100);

the first transmission device (600) is in transmission connection with the second sliding rails (330), and the second sliding rails (330) slide along the first sliding rails (320) under the driving of the first transmission device (600) so as to change the distance between the two groups of second sliding rails (330);

the control system comprises a control unit and a visual identification unit (800), wherein the control unit, the visual identification unit (800) and the first transmission device (600) are electrically connected, and the visual identification unit (800) is used for measuring the distance between the back plate (100) and the clamping device (500) in real time.

2. The vision recognition-based alignment gripping mechanism as claimed in claim 1, wherein: the visual recognition unit (800) comprises a camera (810) and a light source (820), the camera (810) and the light source (820) are arranged on a clamping surface of the clamping platform (300), the camera (810) is located in the middle of the clamping platform (300), and the light source (820) and the camera (810) are arranged adjacently.

3. The vision recognition-based alignment gripping mechanism as claimed in claim 1, wherein: the first transmission device (600) is in crawler transmission, the second sliding rails (330) are oppositely arranged on the first sliding rails (320) and are respectively in transmission connection with one sides of the crawler belts of the first transmission device (600), and the second sliding rails (330) are driven by the first transmission device (600) to move reversely.

4. The vision recognition-based alignment gripping mechanism as claimed in claim 1, wherein: the vision identification device is characterized by further comprising a second transmission device (700), the second transmission device (700) is in transmission connection with the clamping device (500), the clamping device (500) slides along the second sliding rail (330) under the driving of the second transmission device (700), and the second transmission device (700) is electrically connected with the control unit and the vision identification unit (800).

5. The vision recognition-based alignment gripping mechanism of claim 4, wherein: the second transmission device (700) is in crawler transmission, the two clamping devices (500) are oppositely arranged on the second slide rail (330) on the same side, are in transmission connection with the same side of the crawler of the second transmission device (700), and move in the same direction under the driving of the second transmission device (700).

6. The vision recognition-based alignment gripping mechanism of claim 4, wherein: the second transmission device (700) is in crawler transmission, the two clamping devices (500) are oppositely arranged on the second sliding rail (330) on the same side, are respectively in transmission connection with one side of the crawler of the second transmission device (700), and are driven by the second transmission device (700) to move reversely.

7. The vision recognition-based alignment gripping mechanism as claimed in any one of claims 1 to 6, wherein: the clamping platform (300) comprises a plurality of connecting rods (340) with X-shaped sections, light-weight reinforcing holes are formed in the corner points and the center points of the X-shaped sections of the connecting rods (340), L-shaped supporting rods (341) are arranged on the corner points of the connecting rods (340), the four supporting rods (341) and the extension lines thereof surround a rectangle, and a first mounting groove is formed between each supporting rod (341) and each connecting rod (340).

8. The vision recognition-based alignment gripping mechanism of claim 7, wherein: sucking disc (400) top is equipped with the second mounting groove, protruding frame (310) are a plurality of connecting rod (340) concatenation forms, sucking disc (400) with connecting rod (340) of protruding position of protruding frame (310) link to each other, just the second mounting groove perpendicular to rather than the first mounting groove of the connecting rod (340) that links to each other.

9. The vision recognition-based alignment gripping mechanism as claimed in any one of claims 1 to 5, wherein: two ends of the first sliding rail (320) are respectively provided with a blocking block (321).

10. The vision recognition-based alignment gripping mechanism as claimed in any one of claims 1 to 4, wherein: be equipped with baffle (510) on clamping device (500), be equipped with two photoelectric sensors (520) on second slide rail (330), photoelectric sensors (520) set up in the both ends of the moving path of baffle (510), baffle (510) are in order to block the light signal of photoelectric sensors (520).