CN114055454A - Engine end cover and line box robot vision guide positioner - Google Patents
Engine end cover and line box robot vision guide positioner Download PDFInfo
- Publication number
- CN114055454A CN114055454A CN202111535457.9A CN202111535457A CN114055454A CN 114055454 A CN114055454 A CN 114055454A CN 202111535457 A CN202111535457 A CN 202111535457A CN 114055454 A CN114055454 A CN 114055454A
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- end cover
- positioning device
- engine end
- fixed
- assembly comprises
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- 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
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of robots, and discloses a robot vision guiding and positioning device for an engine end cover and a wire box, which comprises a grabbing component; the grabbing assembly comprises a supporting frame, a mechanical arm and a mechanical clamping jaw, wherein the mechanical clamping jaw is installed on the mechanical arm, and the mechanical arm is connected to the supporting frame; placing the component; the placing assembly comprises a die placing table, an end cover die holder and a wire box die holder, and the end cover die holder and the wire box die holder are both arranged on the placing table; the invention can enable the two fixed plates to mutually approach and clamp the workpiece on the die holder by matching the structures such as the gear, the first tooth column, the second tooth column, the fixed column and the like, thereby limiting and reinforcing the workpiece, further ensuring the positioning stability of the workpiece, effectively preventing the workpiece from shaking and displacing during transportation and movement and greatly improving the safety.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a robot vision guiding and positioning device for an engine end cover and a wire box.
Background
Before the engine workshop is not reformed transform into automatically, many production links are accomplished through the manual type, if polish and the washing of work piece, this process has caused work efficiency and manpower resources's waste, manufacturing cost has been increased, in order to solve this problem, through installing the industry camera for the manipulator, under accurate image processing algorithm, can make the robot will polish and the accurate placing on the mould of work piece after the washing, but in practical application, be difficult to guarantee the steadiness of location after the work piece is placed, need remove the empty mould of switch after the work piece is full-load, and the mould platform is very easily rocked when the transport, thereby lead to the work piece vibration skew, the result of use has been influenced greatly.
Disclosure of Invention
The invention aims to provide a visual guide positioning device for an engine end cover and a wire box robot, which aims to solve the problems that after a workpiece is placed, positioning stability is difficult to ensure and the use effect is poor in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the robot vision guiding and positioning device for the engine end cover and the wire box comprises a grabbing component; the grabbing assembly comprises a supporting frame, a mechanical arm and a mechanical clamping jaw, wherein the mechanical clamping jaw is installed on the mechanical arm, and the mechanical arm is connected to the supporting frame; placing the component; the placing assembly comprises a die placing table, an end cover die holder and a wire box die holder, and the end cover die holder and the wire box die holder are both arranged on the die placing table; the measuring assembly comprises a distance measuring sensor and a camera, and the distance measuring sensor and the camera are both arranged on the mechanical clamping jaw; the anticreep subassembly, the anticreep subassembly includes fixed frame, rotates gear, first tooth post, second tooth post, two fixed columns of installing in fixed frame, connects fixed plate and motor on the fixed column, wherein first tooth post and second tooth post are installed respectively in the inside both sides of fixed frame, and just first tooth post and second tooth post all mesh with the gear mutually, two the fixed column respectively with first tooth post and second tooth post fixed connection, the motor is installed on fixed frame, and the motor is connected with gear drive.
Preferably, the device comprises a limiting component; the limiting assembly comprises a limiting plate, a through hole formed in the fixing plate, a guide rod and a spring, wherein the guide rod penetrates through the through hole and is fixedly connected with the limiting plate, and the spring is sleeved on the guide rod.
Preferably, a first support assembly is included; first supporting component is including installing first slide bar and the first spout on first tooth post, wherein first spout is seted up in fixed frame, and first slide bar and first spout sliding connection.
Preferably, a second support assembly is included; the second supporting assembly comprises a second sliding rod and a second sliding groove, the second sliding rod is fixed on the second tooth post, the second sliding groove is arranged in the fixed frame, and the second sliding rod is connected with the second sliding groove in a sliding mode.
Preferably, a connecting assembly is further included; the connecting assembly comprises a clamping block and a clamping groove, wherein the clamping block is installed on the fixing plate, the clamping groove is formed in the fixing column, and the clamping block is matched with the clamping groove.
Preferably, the inner wall of the clamping groove is provided with a rubber pad, and the outer wall of the rubber pad is provided with an anti-slip groove.
Preferably, one end of the spring is fixedly connected with the limiting plate, and the other end of the spring is fixedly connected with the fixing plate.
Preferably, the lateral wall of the fixed frame is provided with a slide matched with the fixed column, and the two fixed columns are different in length.
Preferably, the bottom of support frame is provided with the guide pulley, and the bottom of guide pulley is connected with the guide rail.
Preferably, the outer wall of motor is installed the safety cover, and the heat dissipation groove has been seted up to the outer wall of safety cover.
Compared with the prior art, the invention has the beneficial effects that:
(1) according to the invention, through the matching of the structures such as the gear, the first tooth column, the second tooth column and the fixed column, the two fixed plates can be close to each other and clamp the workpiece on the die holder, so that the workpiece can be limited and reinforced, the positioning stability of the workpiece is further ensured, the workpiece is effectively prevented from shaking and displacing during transportation and movement, and the safety is greatly improved.
(2) According to the clamping device, the limiting plate can better abut against the workpiece when the fixing plate clamps the workpiece through the matching of the limiting plate, the guide rod, the through hole and the spring, so that the clamping effect can be further improved, and meanwhile, the hard extrusion when the fixing plate is in contact with the workpiece can be greatly reduced, so that the workpiece is prevented from being damaged due to excessive extrusion, and the using effect of the device is greatly improved.
(3) According to the invention, the first tooth post and the second tooth post can be supported and guided respectively through the matching of the structures such as the first sliding rod, the first sliding chute and the second sliding rod, so that the tooth posts can stably and smoothly move in the fixing frame, the fixing plate is prevented from shaking and deflecting, and the stability of the structure is greatly improved.
(4) According to the invention, through the matching of the clamping block and the clamping groove, the fixed plate and the fixed column can be quickly connected and separated, so that the fixed plate can be quickly disassembled and assembled, once the fixed plate or the limiting component is damaged, the fixed plate or the limiting component can be timely disassembled and replaced, the operation is simple and convenient, and the using effect is better.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a top view of the mold positioning table of the present invention;
FIG. 3 is a schematic view of the internal structure of the fixing frame according to the present invention;
FIG. 4 is an enlarged view of portion A of FIG. 3;
FIG. 5 is an enlarged view of portion B of FIG. 3;
in the figure: 1. a support frame; 21. a mechanical arm; 22. a mechanical jaw; 31. a mold placing table; 32. an end cover die holder; 33. a wire box die holder; 41. a ranging sensor; 42. a camera; 51. a fixing frame; 52. a gear; 53. a first tooth post; 54. a second tooth post; 55. fixing a column; 56. a fixing plate; 57. a motor; 61. a limiting plate; 62. a through hole; 63. a guide bar; 64. a spring; 71. a first slide bar; 72. a first chute; 73. a second slide bar; 74. a second chute; 81. a clamping block; 82. a clamping groove.
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. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, the present invention provides the following technical solutions: the robot vision guiding and positioning device for the engine end cover and the wire box comprises a grabbing component; the grabbing assembly comprises a support frame 1, a mechanical arm 21 and a mechanical clamping jaw 22, wherein the mechanical clamping jaw 22 is installed on the mechanical arm 21, and the mechanical arm 21 is connected to the support frame 1; placing the component; the placing assembly comprises a die placing table 31, an end cover die holder 32 and a wire box die holder 33, and the end cover die holder 32 and the wire box die holder 33 are both arranged on the die placing table 31; the measuring assembly comprises a distance measuring sensor 41 and a camera 42, and the distance measuring sensor 41 and the camera 42 are both arranged on the mechanical clamping jaw 22; the anti-drop assembly comprises a fixed frame 51, a gear 52 rotatably installed in the fixed frame 51, a first toothed column 53, a second toothed column 54, two fixed columns 55, a fixed plate 56 connected to the fixed columns 55 and a motor 57, wherein the first toothed column 53 and the second toothed column 54 are respectively installed on two sides of the fixed frame 51, the first toothed column 53 and the second toothed column 54 are respectively meshed with the gear 52, the two fixed columns 55 are respectively fixedly connected with the first toothed column 53 and the second toothed column 54, the motor 57 is installed on the fixed frame 51, and the motor 57 is in driving connection with the gear 52.
Specifically, after a workpiece is placed on the end cover die holder 32 or the wire box die holder 33 at a fixed point, the gear 52 can be driven to rotate through the work of the motor 57, then the gear 52 drives the first tooth post 53 and the second tooth post 54 to move simultaneously, so that the first tooth post 53 and the second tooth post 54 drive the fixing post 55 to move simultaneously, and then the fixing post 55 drives the fixing plate 56 to move, so that the two fixing plates 56 are close to each other and clamp the workpiece on the die holder, and further, the workpiece can be limited and reinforced, the positioning stability is effectively ensured, the workpiece is prevented from shaking and displacing during transportation and movement, and the safety is greatly improved;
in addition, a and b shown in fig. 1 are a polishing area and a cleaning area respectively, when the device works, a worker can put a processed workpiece, including an engine end cover and a wire box, into a polishing machine located in the polishing area a for polishing, after polishing, the workpiece can be grabbed at a fixed position through the cooperation of the mechanical arm 21 and the mechanical clamping jaw 22, then the workpiece is moved into a cleaning machine located in the cleaning area b for cleaning, after cleaning, the workpiece is grabbed through the mechanical arm 21 and the mechanical clamping jaw 22, then the workpiece is sent to the mold placing table 31, meanwhile, the moving distance and the image acquisition are controlled through the distance measuring sensor 41 and the camera 42, whether the workpiece is on the mold is already judged through image processing, if so, the workpiece is moved to a next photographing positioning point, the image is collected again for judgment, if the mold is empty, the image is intelligently analyzed through an image processing algorithm, obtaining the accurate position of the appointed mold, so that the workpiece can be accurately placed on the end cover mold base 32 or the wire box mold base 33;
comprises a limiting component; the limiting assembly comprises a limiting plate 61, a through hole 62 formed in the fixing plate 56, a guide rod 63 and a spring 64, wherein the guide rod 63 penetrates through the through hole 62 and is fixedly connected with the limiting plate 61, and the spring 64 is sleeved on the guide rod 63.
Specifically, when two fixed plates 56 centre gripping work pieces, limiting plate 61 can be earlier with the work piece contact, then limiting plate 61 can drive guide arm 63 and remove in through-hole 62, make spring 64 receive the extrusion, under spring 64's elasticity bounce, can make the better tight work piece of support of limiting plate 61, thereby the tight effect of improvement clamp that can step forward, simultaneously under its spring 64 buffering, can reduce hard extrusion greatly, thereby prevent to extrude and excessively cause the work piece to damage, the result of use of device has been improved greatly.
Comprises a first supporting component; the first support component comprises a first sliding rod 71 and a first sliding groove 72 which are arranged on the first tooth post 53, wherein the first sliding groove 72 is arranged in the fixed frame 51, and the first sliding rod 71 is in sliding connection with the first sliding groove 72 and comprises a second support component; the second support assembly comprises a second sliding rod 73 and a second sliding groove 74, wherein the second sliding rod 73 is fixed on the second gear 54, the second sliding groove 74 is arranged in the fixed frame 51, and the second sliding rod 73 is slidably connected with the second sliding groove 74.
Specifically, through the cooperation of first slide bar 71 and first spout 72, can support and guide first tooth post 53 to make its steady smooth removal in fixed frame 51, simultaneously through the cooperation of second slide bar 73 and second spout 74, can support and guide second tooth post 54, so that make the steady smooth motion of second tooth post 54, and then prevented that fixed plate 56 from taking place to rock the skew, improved the stability of structure greatly.
The device also comprises a connecting component; the connecting assembly comprises a clamping block 81 and a clamping groove 82, wherein the clamping block 81 is installed on the fixing plate 56, the clamping groove 82 is formed in the fixing column 55, and the clamping block 81 is matched with the clamping groove 82.
Specifically, through the mutual grafting cooperation of fixture block 81 and draw-in groove 82, can realize the high-speed joint and the separation between fixed plate 56 and the fixed column 55, and then the quick assembly disassembly fixed plate 56 of being convenient for, in case damage appears in fixed plate 56 or spacing subassembly, the change can in time be dismantled, easy operation is convenient, excellent in use effect.
Further, the rubber pad is installed to the inner wall of draw-in groove 82, and the outer wall of rubber pad has seted up anti-skidding groove, the one end and the limiting plate 61 fixed connection of spring 64, and the other end and the fixed plate 56 fixed connection of spring 64, fixed frame 51's lateral wall seted up with fixed column 55 assorted slide, and two fixed column 55's length is different, the bottom of support frame 1 is provided with the guide pulley, and the bottom of guide pulley is connected with the guide rail, the safety cover is installed to the outer wall of motor 57, and the radiating groove has been seted up to the outer wall of safety cover.
Specifically, can make fixture block 81 more firm in draw-in groove 82 through the rubber pad, be convenient for the fixed column 55 through the slide and remove, simultaneously through the cooperation of guide pulley and guide rail, be convenient for snatch the stable efficient removal of subassembly, and can protect motor 57 through the safety cover to prevent collision damage.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. Engine end cover and line case robot vision guide positioner, its characterized in that includes:
a grasping assembly; the grabbing assembly comprises a support frame (1), a mechanical arm (21) and a mechanical clamping jaw (22), wherein the mechanical clamping jaw (22) is installed on the mechanical arm (21), and the mechanical arm (21) is connected to the support frame (1);
placing the component; the placing assembly comprises a mould placing table (31), an end cover mould base (32) and a wire box mould base (33), and the end cover mould base (32) and the wire box mould base (33) are both arranged on the mould placing table (31);
a measurement assembly comprising a ranging sensor (41) and a camera (42), and both the ranging sensor (41) and the camera (42) are mounted on the mechanical jaw (22);
the anti-falling assembly comprises a fixed frame (51), a gear (52) rotatably installed in the fixed frame (51), a first toothed column (53), a second toothed column (54), two fixed columns (55), a fixed plate (56) connected to the fixed columns (55) and a motor (57), wherein the first toothed column (53) and the second toothed column (54) are respectively installed on two sides of the inside of the fixed frame (51), the first toothed column (53) and the second toothed column (54) are both meshed with the gear (52), the fixed columns (55) are respectively fixedly connected with the first toothed column (53) and the second toothed column (54), the motor (57) is installed on the fixed frame (51), and the motor (57) is in driving connection with the gear (52).
2. The engine end cover and wire box robot vision-guided positioning device of claim 1, characterized in that: comprises a limiting component;
the limiting assembly comprises a limiting plate (61), a through hole (62) formed in the fixing plate (56), a guide rod (63) and a spring (64), wherein the guide rod (63) penetrates through the through hole (62) and is fixedly connected with the limiting plate (61), and the spring (64) is sleeved on the guide rod (63).
3. The engine end cover and wire box robot vision-guided positioning device of claim 2, characterized in that: comprises a first supporting component;
the first supporting assembly comprises a first sliding rod (71) and a first sliding groove (72), the first sliding rod (71) and the first sliding groove (72) are installed on the first tooth post (53), the first sliding groove (72) is arranged in the fixed frame (51), and the first sliding rod (71) is in sliding connection with the first sliding groove (72).
4. The engine end cover and wire case robot vision-guided positioning device of claim 3, characterized in that: comprises a second support component;
the second support assembly comprises a second sliding rod (73) and a second sliding groove (74), wherein the second sliding rod (73) is fixed on the second tooth post (54), the second sliding groove (74) is arranged in the fixed frame (51), and the second sliding rod (73) is in sliding connection with the second sliding groove (74).
5. The engine end cover and wire case robot vision-guided positioning device of claim 4, characterized in that: the device also comprises a connecting component;
the connecting assembly comprises a clamping block (81) and a clamping groove (82), wherein the clamping block (81) is installed on the fixing plate (56), the clamping groove (82) is formed in the fixing column (55), and the clamping block (81) is matched with the clamping groove (82).
6. The engine end cover and wire case robot vision-guided positioning device of claim 5, characterized in that: the inner wall of the clamping groove (82) is provided with a rubber pad, and the outer wall of the rubber pad is provided with an anti-slip groove.
7. The engine end cover and wire case robot vision-guided positioning device of claim 6, characterized in that: one end of the spring (64) is fixedly connected with the limiting plate (61), and the other end of the spring (64) is fixedly connected with the fixing plate (56).
8. The engine end cover and wire case robot vision-guided positioning device of claim 7, characterized in that: the side wall of the fixed frame (51) is provided with a slideway matched with the fixed columns (55), and the two fixed columns (55) are different in length.
9. The engine end cover and wire case robotic vision guided positioning device of claim 8, wherein: the bottom of the support frame (1) is provided with a guide wheel, and the bottom of the guide wheel is connected with a guide rail.
10. The engine end cover and wire case robotic vision guided positioning device of claim 9, wherein: the outer wall of motor (57) installs the safety cover, and the radiating groove has been seted up to the outer wall of safety cover.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111535457.9A CN114055454B (en) | 2021-12-15 | 2021-12-15 | Engine end cover and wire box robot vision guiding and positioning device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111535457.9A CN114055454B (en) | 2021-12-15 | 2021-12-15 | Engine end cover and wire box robot vision guiding and positioning device |
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| CN114055454A true CN114055454A (en) | 2022-02-18 |
| CN114055454B CN114055454B (en) | 2023-07-14 |
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