CN114055454B - Engine end cover and wire box robot vision guiding and positioning device - Google Patents
Engine end cover and wire box robot vision guiding and positioning device Download PDFInfo
- Publication number
- CN114055454B CN114055454B CN202111535457.9A CN202111535457A CN114055454B CN 114055454 B CN114055454 B CN 114055454B CN 202111535457 A CN202111535457 A CN 202111535457A CN 114055454 B CN114055454 B CN 114055454B
- Authority
- CN
- China
- Prior art keywords
- fixed
- workpiece
- die holder
- end cover
- die
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- 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
-
- 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
-
- 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
Landscapes
- 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 an engine end cover and a line box robot vision guiding and positioning device, 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 arranged on the mechanical arm, and the mechanical arm is connected to the supporting frame; placing the assembly; the placing component 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 measuring assembly comprises a ranging sensor and a camera, wherein the ranging sensor and the camera are arranged on the mechanical clamping jaw, and the two fixing plates can be mutually close to and clamp a workpiece on the die holder through the matching of the structures such as the gear, the first tooth column, the second tooth column and the fixing column, 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.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to an engine end cover and a line box robot vision guiding and positioning device.
Background
Before the automatic transformation is not carried out in the engine production workshop, many production links are accomplished through the manual mode, like the polishing and the washing of work piece, this process has caused the waste of work efficiency and manpower resources, increased manufacturing cost, in order to solve this problem, through installing industrial camera on the manipulator, under accurate image processing algorithm, can make the robot accurately place on the mould with the work piece after polishing and wasing, but in practical application, the stability of location is difficult to guarantee after the work piece is placed, need remove after the work piece is full to switch empty mould, and the mould platform very easily produces when transporting and rocks, thereby lead to work piece vibration skew, greatly influence result of use.
Disclosure of Invention
The invention aims to provide an engine end cover and a wire box robot vision guiding and positioning device so as to solve the problems that positioning stability is difficult to ensure and use effect is poor after a workpiece is placed in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: the engine end cover and the wire box robot vision guiding and positioning device 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 arranged on the mechanical arm, and the mechanical arm is connected to the supporting frame; placing the assembly; the placing component 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 ranging sensor and a camera, and the ranging sensor and the camera are both arranged on the mechanical clamping jaw; the anti-drop subassembly, the anti-drop subassembly includes fixed frame, rotates and installs gear, first tooth post, second tooth post, two fixed columns in the 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 first tooth post and second tooth post all mesh with the gear, two the fixed column respectively with first tooth post and second tooth post fixed connection, the motor is installed on the fixed frame, and motor and gear drive are connected.
Preferably, a limit assembly is included; 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; the first support assembly comprises a first sliding rod and a first sliding groove which are arranged on the first tooth column, wherein the first sliding groove is arranged in the fixed frame, and the first sliding rod is in sliding connection with the first sliding groove.
Preferably, a second support assembly is included; the second support assembly comprises a An Di two sliding rods and a second sliding groove, wherein the second sliding rods are fixed on the second tooth columns, the second sliding grooves are arranged in the fixed frame, and the second sliding rods are in sliding connection with the second sliding grooves.
Preferably, the device further comprises a connecting assembly; the connecting assembly comprises a clamping block and a clamping groove, wherein the clamping block is arranged on the fixed plate, the clamping groove is formed in the fixed 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-skid 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 side wall of the fixed frame is provided with a slideway matched with the fixed columns, and the lengths of the two fixed columns are different.
Preferably, the bottom of the support frame is provided with a guide wheel, and the bottom of the guide wheel is connected with a guide rail.
Preferably, the outer wall of the motor is provided with a protective cover, and the outer wall of the protective cover is provided with a heat dissipation groove.
Compared with the prior art, the invention has the beneficial effects that:
(1) According to the invention, through the cooperation 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 mutually 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 invention, through the matching of the limiting plate, the guide rod, the through hole and the spring, when the workpiece is clamped by the fixing plate, the limiting plate can better abut against the workpiece, so that the clamping effect can be further improved, meanwhile, the hard extrusion when the limiting plate contacts with the workpiece can be greatly reduced, 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 column and the second tooth column can be respectively supported and guided through the cooperation of the structures such as the first slide bar, the first slide groove and the second slide bar, so that the first tooth column and the second tooth column can stably and smoothly move in the fixed frame, the fixed 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 blocks and the clamping grooves, the quick connection and separation between the fixing plate and the fixing column can be realized, so that the fixing plate can be conveniently and quickly disassembled and assembled, and once the fixing plate or the limiting component is damaged, the fixing plate or the limiting component can be timely disassembled and replaced, the operation is simple and convenient, and the use effect is good.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a top view of the mold-placing table of the present invention;
FIG. 3 is a schematic view showing the internal structure of the fixing frame of the present invention;
fig. 4 is an enlarged view of a portion a in fig. 3;
fig. 5 is an enlarged view of a portion B in fig. 3;
in the figure: 1. a support frame; 21. a mechanical arm; 22. mechanical clamping jaws; 31. a mold placement table; 32. an end cover die holder; 33. a wire box die holder; 41. a ranging sensor; 42. a camera; 51. a fixed frame; 52. a gear; 53. a first tooth post; 54. a second tooth post; 55. fixing the column; 56. a fixing plate; 57. a motor; 61. a limiting plate; 62. a through hole; 63. a guide rod; 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 following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-5, the present invention provides the following technical solutions: the engine end cover and the wire box robot vision guiding and positioning device comprises a grabbing component; the grabbing component comprises a supporting frame 1, a mechanical arm 21 and a mechanical clamping jaw 22, wherein the mechanical clamping jaw 22 is arranged on the mechanical arm 21, and the mechanical arm 21 is connected to the supporting frame 1; placing the assembly; the placing component 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; a measuring assembly comprising a ranging sensor 41 and a camera 42, the ranging sensor 41 and the camera 42 being mounted on the mechanical jaw 22; the anti-drop subassembly, the anti-drop subassembly includes fixed frame 51, rotate the gear 52 of installing in fixed frame 51, first tooth post 53, second tooth post 54, two fixed posts 55, connect fixed plate 56 and motor 57 on fixed post 55, wherein first tooth post 53 and second tooth post 54 are installed respectively in the inside both sides of fixed frame 51, and first tooth post 53 and second tooth post 54 all mesh with gear 52, two fixed posts 55 respectively with first tooth post 53 and second tooth post 54 fixed connection, motor 57 is installed on fixed frame 51, and motor 57 and gear 52 drive connection.
Specifically, after the workpiece is placed on the end cover die holder 32 or the wire box die holder 33 at fixed points, the motor 57 can work to drive the gear 52 to rotate, then the gear 52 simultaneously drives the first tooth post 53 and the second tooth post 54 to move, so that the first tooth post 53 and the second tooth post 54 simultaneously drive the fixing post 55 to move, and then the fixing post 55 drives the fixing plate 56 to move, so that the two fixing plates 56 are mutually close to each other and clamp the workpiece on the die holder, 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 machine is in operation, a worker can put a processed workpiece, including an engine end cover and a wire box, into a polishing machine in the polishing area a for polishing, after polishing, the workpiece can be grasped 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 in the cleaning area b for cleaning, after cleaning, the workpiece is grasped through the mechanical arm 21 and the mechanical clamping jaw 22, then the workpiece is sent to a die placement table 31, meanwhile, the moving distance and the acquired image are controlled through a distance sensor 41 and a camera 42, whether the workpiece is on the die is judged through image processing, if the workpiece is in existence, the next photographing positioning point is moved, the image is acquired again, and judgment is made, if the die is empty, the image is intelligently analyzed through an image processing algorithm, the accurate position of the designated die is obtained, and therefore the workpiece can be placed on an end cover die holder 32 or a wire box die holder 33 accurately;
comprises a limit 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 clamp the workpiece, limiting plate 61 can contact the workpiece first, then limiting plate 61 can drive guide rod 63 to move in through hole 62, make spring 64 receive the extrusion, under the elasticity rebound of spring 64, can make limiting plate 61 better support tight work piece to can further improve the clamping effect, simultaneously under its spring 64 buffering, can reduce hard extrusion greatly, thereby prevent that the extrusion from excessively causing the work piece to damage, improved the result of use of device greatly.
Comprises a first support component; the first support assembly comprises a first slide bar 71 and a first slide groove 72 which are arranged on the first tooth post 53, wherein the first slide groove 72 is arranged in the fixed frame 51, and the first slide bar 71 is in sliding connection with the first slide groove 72 and comprises a second support assembly; the second supporting component comprises a An Di 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.
Specifically, the first tooth post 53 can be supported and guided by the cooperation of the first slide bar 71 and the first slide groove 72, so that the first tooth post 53 can move in the fixed frame 51 smoothly and stably, and the second tooth post 54 can be supported and guided by the cooperation of the second slide bar 73 and the second slide groove 74, so that the second tooth post 54 can move smoothly and stably, further, the fixed plate 56 is prevented from shaking and deflecting, and the stability of the structure is greatly improved.
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 fixed plate 56, the clamping groove 82 is formed in the fixed column 55, and the clamping block 81 is matched with the clamping groove 82.
Specifically, through fixture block 81 and draw-in groove 82 cooperation of pegging graft each other, can realize the quick connect and the separation between fixed plate 56 and the fixed column 55, and then be convenient for quick assembly disassembly fixed plate 56, in case fixed plate 56 or spacing subassembly appear damaging, can dismantle in time and change, 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 anti-skidding groove has been seted up to the outer wall of rubber pad, and 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, and fixed column 55 assorted slide has been seted up to the lateral wall of fixed frame 51, and the length of two fixed columns 55 is different, and the bottom of support frame 1 is provided with the guide pulley, and the bottom of guide pulley is connected with the guide rail, and 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 the collision damage.
It is noted that relational terms such as first and second, and the like are 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. Moreover, 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 understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The application method of the visual guiding and positioning device for the engine end cover and the wire box robot is characterized by comprising the following steps of:
step 1: placing the engine end cover and the wire box which are processed into a polishing machine in a polishing area for polishing;
step 2: after polishing, the mechanical arm (21) is matched with the mechanical clamping jaw (22) to grab the workpiece and move the workpiece into a cleaning machine in a cleaning area for cleaning;
step 3: after the cleaning is finished, grabbing a workpiece through a mechanical arm (21) and a mechanical clamping jaw (22), and conveying the workpiece to a die placing table; meanwhile, a distance measuring sensor and a camera are used for controlling the moving distance and collecting images, and whether a workpiece exists on the die or not is judged through image processing;
step 4: if yes, moving to the next photographing positioning point, and re-collecting the image for judgment; if the die is empty, performing intelligent analysis on the image through an image processing algorithm to acquire the accurate position of the designated die, and accurately placing the workpiece on an end cover die holder (32) or a wire box die holder (33);
wherein, robot vision guide positioner includes:
a grabbing component; the grabbing component comprises a supporting frame (1), a mechanical arm (21) and a mechanical clamping jaw (22), wherein the mechanical clamping jaw (22) is arranged on the mechanical arm (21), and the mechanical arm (21) is connected to the supporting frame (1);
placing the assembly; 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);
a measurement assembly comprising a ranging sensor (41) and a camera (42), both the ranging sensor (41) and the camera (42) being mounted on the mechanical jaw (22);
the anti-drop assembly comprises a fixed frame (51), a gear (52) rotatably arranged in the fixed frame (51), a first tooth column (53), a second tooth column (54), two fixed columns (55), a fixed plate (56) connected to the fixed columns (55) and a motor (57), wherein the first tooth column (53) and the second tooth column (54) are respectively arranged on two sides of the inside of the fixed frame (51), the first tooth column (53) and the second tooth column (54) are meshed with the gear (52), the two fixed columns (55) are respectively fixedly connected with the first tooth column (53) and the second tooth column (54), the motor (57) is arranged on the fixed frame (51), and the motor (57) is in driving connection with the gear (52), and the anti-drop assembly is provided with a plurality of groups for clamping workpieces on a die holder, and the plurality of groups of fixed frames are arranged on the left side and the right side of the die placement table;
the limiting assembly comprises a limiting plate (61), a through hole (62) formed in the fixed 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);
the first support assembly comprises a first sliding rod (71) and a first sliding groove (72) which are arranged on the first tooth column (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);
the second support assembly comprises a An Di two sliding rods (73) and a second sliding groove (74), wherein the second sliding rods (73) are fixed on the second tooth column (54), the second sliding grooves (74) are formed in the fixed frame (51), and the second sliding rods (73) are in sliding connection with the second sliding grooves (74);
the connecting assembly comprises a clamping block (81) and a clamping groove (82), wherein the clamping block (81) is arranged on the fixed plate (56), the clamping groove (82) is arranged on the fixed column (55), and the clamping block (81) is matched with the clamping groove (82).
2. The method of use according to claim 1, wherein:
the inner wall of draw-in groove (82) is installed the rubber pad, and the outer wall of rubber pad has seted up anti-skidding groove.
3. The method of use according to claim 2, wherein:
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).
4. A method of use according to claim 3, wherein:
the side wall of the fixed frame (51) is provided with a slideway matched with the fixed columns (55), and the lengths of the two fixed columns (55) are different.
5. The method of use according to claim 4, wherein:
the bottom of support frame (1) is provided with the guide pulley, and the bottom of guide pulley is connected with the guide rail.
6. The method of use according to claim 5, wherein:
the outer wall of motor (57) is installed the safety cover, and the radiating groove has been seted up to the outer wall of safety cover.
Priority Applications (1)
| 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 |
Applications Claiming Priority (1)
| 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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114055454A CN114055454A (en) | 2022-02-18 |
| CN114055454B true CN114055454B (en) | 2023-07-14 |
Family
ID=80229650
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111535457.9A Active CN114055454B (en) | 2021-12-15 | 2021-12-15 | Engine end cover and wire box robot vision guiding and positioning device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114055454B (en) |
Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5667353A (en) * | 1995-03-31 | 1997-09-16 | Inspex Inc. | Robot system |
| EP1953496A2 (en) * | 2007-02-05 | 2008-08-06 | Fanuc Ltd | Calibration device and method for robot mechanism |
| CN205589978U (en) * | 2016-05-05 | 2016-09-21 | 亿和精密金属制品(深圳)有限公司 | Loading attachment based on manipulator |
| CN205734962U (en) * | 2016-06-22 | 2016-11-30 | 江南大学 | A kind of clutch blanking device under vision guide |
| CN109789560A (en) * | 2016-08-08 | 2019-05-21 | 厨房机器人技术公司 | Tableware steerable system and method |
| CN209533440U (en) * | 2019-03-14 | 2019-10-25 | 重庆化工职业学院 | A kind of electric industry manipulator |
| CN209999229U (en) * | 2019-05-11 | 2020-01-31 | 太仓安美五金机械有限公司 | manipulator with high working efficiency |
| CN110842928A (en) * | 2019-12-04 | 2020-02-28 | 中科新松有限公司 | Visual guiding and positioning device and method for compound robot |
| CN111421570A (en) * | 2020-05-11 | 2020-07-17 | 北京中车重工机械有限公司 | Gripping apparatus device, robot and dangerous waste material dumping system |
| CN211220760U (en) * | 2019-11-15 | 2020-08-11 | 昆山康辉盛机械设备有限公司 | Effectual robot clamping jaw device of centre gripping |
| CN112692815A (en) * | 2021-01-21 | 2021-04-23 | 张利琴 | Transfer manipulator for carrying advanced manufacturing materials |
| CN112917466A (en) * | 2021-03-29 | 2021-06-08 | 北京洛必德科技有限公司 | Mechanical arm for taking beverage |
| CN213474692U (en) * | 2020-09-30 | 2021-06-18 | 中国计量大学 | Mobile transfer robot system |
| CN113103268A (en) * | 2021-04-27 | 2021-07-13 | 广州文硕石油有限公司 | Stable form manipulator intelligent robot grabbing device |
| CN213945666U (en) * | 2020-11-16 | 2021-08-13 | 中石化石油机械股份有限公司沙市钢管分公司 | Positioner for machine-building |
| CN113524140A (en) * | 2021-07-29 | 2021-10-22 | 深圳市维创世纪信息技术有限公司 | Industrial handling robot capable of preventing object from loosening and falling and handling method thereof |
| CN214490478U (en) * | 2020-11-13 | 2021-10-26 | 广州君穗创学教育科技有限公司 | Multifunctional fixing device for mechanical manufacturing |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7114462B2 (en) * | 2004-01-12 | 2006-10-03 | Matrix Scientific, Llc | Automated cage cleaning apparatus and method |
| US8958911B2 (en) * | 2012-02-29 | 2015-02-17 | Irobot Corporation | Mobile robot |
| CN108972537B (en) * | 2017-10-13 | 2020-11-10 | 宁波舜宇智能科技有限公司 | Assembly execution system |
| US10471597B1 (en) * | 2017-11-01 | 2019-11-12 | Amazon Technologies, Inc. | Adaptive perception for industrial robotic systems |
| US10661406B2 (en) * | 2018-01-11 | 2020-05-26 | Razor Edge Systems, Inc. | Robotic hand tool sharpening and cleaning apparatus |
| CN109049500B (en) * | 2018-08-27 | 2023-10-13 | 福州国化智能技术有限公司 | Automatic embedded and product taking-out and classifying device for injection molding inserts |
| CN110076140B (en) * | 2019-04-03 | 2024-03-22 | 东莞广达智能科技有限公司 | Camera module cleaning equipment |
| CN110116116A (en) * | 2019-05-14 | 2019-08-13 | 中国地质大学（武汉） | Robotic laser cleaning path planning system based on computer vision and method |
| CN211732982U (en) * | 2019-12-02 | 2020-10-23 | 横店集团东磁股份有限公司 | Automatic reason material system of magnetic core product |
| CN211540720U (en) * | 2019-12-04 | 2020-09-22 | 广东罗庚机器人有限公司 | Robot polisher station |
| CN111002064A (en) * | 2019-12-13 | 2020-04-14 | 青岛理工大学 | Multi-station self-positioning floating clamping and workpiece self-overturning intelligent tool clamp system |
| CN113021085A (en) * | 2021-03-29 | 2021-06-25 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Polishing equipment based on image recognition and polishing method thereof |
-
2021
- 2021-12-15 CN CN202111535457.9A patent/CN114055454B/en active Active
Patent Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5667353A (en) * | 1995-03-31 | 1997-09-16 | Inspex Inc. | Robot system |
| EP1953496A2 (en) * | 2007-02-05 | 2008-08-06 | Fanuc Ltd | Calibration device and method for robot mechanism |
| CN205589978U (en) * | 2016-05-05 | 2016-09-21 | 亿和精密金属制品(深圳)有限公司 | Loading attachment based on manipulator |
| CN205734962U (en) * | 2016-06-22 | 2016-11-30 | 江南大学 | A kind of clutch blanking device under vision guide |
| CN109789560A (en) * | 2016-08-08 | 2019-05-21 | 厨房机器人技术公司 | Tableware steerable system and method |
| CN209533440U (en) * | 2019-03-14 | 2019-10-25 | 重庆化工职业学院 | A kind of electric industry manipulator |
| CN209999229U (en) * | 2019-05-11 | 2020-01-31 | 太仓安美五金机械有限公司 | manipulator with high working efficiency |
| CN211220760U (en) * | 2019-11-15 | 2020-08-11 | 昆山康辉盛机械设备有限公司 | Effectual robot clamping jaw device of centre gripping |
| CN110842928A (en) * | 2019-12-04 | 2020-02-28 | 中科新松有限公司 | Visual guiding and positioning device and method for compound robot |
| CN111421570A (en) * | 2020-05-11 | 2020-07-17 | 北京中车重工机械有限公司 | Gripping apparatus device, robot and dangerous waste material dumping system |
| CN213474692U (en) * | 2020-09-30 | 2021-06-18 | 中国计量大学 | Mobile transfer robot system |
| CN214490478U (en) * | 2020-11-13 | 2021-10-26 | 广州君穗创学教育科技有限公司 | Multifunctional fixing device for mechanical manufacturing |
| CN213945666U (en) * | 2020-11-16 | 2021-08-13 | 中石化石油机械股份有限公司沙市钢管分公司 | Positioner for machine-building |
| CN112692815A (en) * | 2021-01-21 | 2021-04-23 | 张利琴 | Transfer manipulator for carrying advanced manufacturing materials |
| CN112917466A (en) * | 2021-03-29 | 2021-06-08 | 北京洛必德科技有限公司 | Mechanical arm for taking beverage |
| CN113103268A (en) * | 2021-04-27 | 2021-07-13 | 广州文硕石油有限公司 | Stable form manipulator intelligent robot grabbing device |
| CN113524140A (en) * | 2021-07-29 | 2021-10-22 | 深圳市维创世纪信息技术有限公司 | Industrial handling robot capable of preventing object from loosening and falling and handling method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114055454A (en) | 2022-02-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102728807B (en) | Automatic picking and raking equipment of zinc die-casting machine | |
| CN105344611A (en) | Metal stamped part surface defect detecting mechanism | |
| CN203222331U (en) | Electronic element conveying device | |
| CN215281961U (en) | Industrial automation detects uses manipulator | |
| CN114055454B (en) | Engine end cover and wire box robot vision guiding and positioning device | |
| CN104708303B (en) | Carry at a high speed the high speed method for carrying of module | |
| CN210333442U (en) | Dust removal equipment for hardware with through holes | |
| CN106391847B (en) | A kind of multistation automatic pipe reducing machine | |
| CN112809725A (en) | Injection molding assembly line positioning and grabbing equipment | |
| CN216188969U (en) | Multi-station transfer mechanism | |
| CN211839905U (en) | Manipulator demoulding mechanism for automobile mould | |
| CN212707462U (en) | Single silicon rod diamond wire squarer | |
| CN111375723B (en) | Full-automatic riveting equipment for automobile parts | |
| CN205146710U (en) | Metal stamping spare surface defect detection mechanism | |
| CN108788567B (en) | Front cover plate direction identification assembly for precision part welding center | |
| CN210306384U (en) | Rotary flexible main splicing switching mechanism | |
| CN211161519U (en) | Continuous stamping die convenient to metal working | |
| CN208614225U (en) | Heavy duty detergent aluminium alloy extrusions cutting deburring all-in-one machine | |
| CN105922097A (en) | Automatic deburring device | |
| CN217083624U (en) | Mechanism for automatically detecting concentricity of shafts | |
| CN108788614B (en) | Front cover plate feeding mechanism for precision part welding center | |
| CN108788568B (en) | Precision part welding center | |
| CN217570239U (en) | Section bar material moving device and section bar straightening production line | |
| CN212443117U (en) | Automatic trimming device for sand core | |
| CN210456588U (en) | Cell-phone glass insert machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |