CN118024225A - Visual positioning file grabbing device - Google Patents
Visual positioning file grabbing device Download PDFInfo
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- CN118024225A CN118024225A CN202410430482.8A CN202410430482A CN118024225A CN 118024225 A CN118024225 A CN 118024225A CN 202410430482 A CN202410430482 A CN 202410430482A CN 118024225 A CN118024225 A CN 118024225A
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- clamping
- visual positioning
- file
- plate
- grabbing device
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- 230000000007 visual effect Effects 0.000 title claims abstract description 44
- 230000007246 mechanism Effects 0.000 claims description 62
- 210000003813 thumb Anatomy 0.000 claims description 14
- 239000000741 silica gel Substances 0.000 claims description 10
- 229910002027 silica gel Inorganic materials 0.000 claims description 10
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 9
- 230000000694 effects Effects 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 9
- 230000009471 action Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 1
Classifications
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- 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
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
-
- 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
- B25J19/04—Viewing devices
-
- 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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- 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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention provides a visual positioning file grabbing device, which relates to the technical field of file grabbing equipment, and is used for being arranged at the tail end of a cooperative robot. This vision positioning archives grabbing device can improve the precision of snatching to the archives box, avoids pressing from both sides and gets the damage archives box.
Description
Technical Field
The invention relates to the technical field of file grabbing equipment, in particular to a visual positioning file grabbing device.
Background
In the process of accessing files, the files are usually required to be taken and put, but because the number of files is usually more, the manual file grabbing efficiency is low, and the files are usually stored and grabbed by utilizing the file grabbing device.
The current file grabbing device is for improving the grabbing precision, can be generally used with a visual positioning system independent of the file grabbing device, after the file grabbing device is positioned to the vicinity of the file box by utilizing the visual positioning system, the file grabbing device starts grabbing the file box, but the visual positioning system is usually far away from the file grabbing device, so that the file grabbing device is not easy to accurately position to the vicinity of the file box, the positioning position of the file grabbing device is possibly far away from the file box, the grabbing distance of the file grabbing device is further longer, the file box is not easy to accurately grab, and the damaged file box is easy to clamp.
Disclosure of Invention
The invention solves the problems that: how to accurately grasp the file box so as to avoid clamping and damaging the file box.
In order to solve the above problems, the present invention provides a visual positioning file grabbing device, which is configured to be disposed at an end of a collaborative robot, where the visual positioning file grabbing device includes a frame, a driving mechanism, a clamping mechanism, a guiding component and a visual positioning component, the frame is configured to be connected to the end of the collaborative robot, the driving mechanism is disposed on the frame and connected to the clamping mechanism, and is configured to drive the clamping mechanism to move in a front-rear direction relative to the frame, the clamping mechanism is configured to clamp a file box, the guiding component includes a guide rail and a sliding seat, the guide rail is disposed on the frame and extends in the front-rear direction, the sliding seat is slidably mounted on the guide rail in the front-rear direction and is connected to the clamping mechanism, the visual positioning component includes a camera and a processing module that are electrically connected to each other, and the camera and the processing module are both disposed on the frame, and the processing module is configured to electrically connect the collaborative robot.
Optionally, the frame body comprises a first mounting frame and a second mounting frame, an interface used for being connected with the tail end of the cooperative robot is arranged at the top of the first mounting frame, the second mounting frame is connected to the lower end of the first mounting frame, and the second mounting frame is downward and obliquely and frontward extending;
the driving mechanism, the guide assembly and the processing module are arranged on the first mounting frame, and the camera is arranged on the lower end wall of the second mounting frame.
Optionally, the camera is located at a position forward of the lower end wall of the second mounting frame.
Optionally, the actuating mechanism includes action wheel, follow driving wheel, belt, motor and fly leaf, the action wheel with follow the driving wheel all locates the support body, just follow the driving wheel and be located the place ahead of action wheel, the axial of action wheel with the axial of follow the driving wheel all is left and right sides and arranges, the belt is around locating the action wheel with follow the driving wheel, the motor is located the support body and with the action wheel links to each other, so as to order about the axis rotation of action wheel, the fly leaf is located the belt, the fly leaf is connected respectively fixture with the slide.
Optionally, a connecting plate is arranged at the upper end of the movable plate, and the connecting plate is detachably connected with the sliding seat.
Optionally, a belt groove extending forwards and backwards is concavely formed in the lower end face of the movable plate, and the belt penetrates through the belt groove;
The visual positioning file grabbing device further comprises a pressing plate, wherein the pressing plate is detachably connected to the lower end of the movable plate, so that the belt is pressed to the belt groove, and the movable plate and the belt are relatively fixed.
Optionally, two travel switches are arranged on the frame body, the two travel switches are located between the driving wheel and the driven wheel, the two travel switches are respectively close to the driving wheel and the driven wheel, and the travel switches are used for generating limit signals when contacting with the pressing plate.
Optionally, the fixture includes thumb clamping jaw and splint, the thumb clamping jaw with actuating mechanism links to each other, splint set up two, and two splint are connected respectively two clamping jaw portions of thumb clamping jaw, two splint are the interval setting along controlling the direction, two be limited between the splint and be used for supplying the centre gripping space of archives box centre gripping, two splint are used for the order of thumb clamping jaw is driven relatively to be close to or keep away from the activity, in order to press from both sides tightly or loosen archives box in the centre gripping space.
Optionally, the splint includes mutually perpendicular's first plate body and second plate body, first plate body is controlling and arranges, the second plate body is arranging around, two the second plate body of splint has two clamping surfaces of relative setting, the one end that is close to of clamping surface first plate body is equipped with the clearance groove that extends from top to bottom.
Optionally, a silica gel layer is coated on the clamping surface.
Compared with the prior art, the visual positioning file grabbing device provided by the invention has the following technical effects:
In the visual positioning file grabbing device provided by the invention, the frame body can be connected to the tail end of the cooperative robot so as to connect the whole file grabbing device to the tail end of the cooperative robot; meanwhile, the driving mechanism is arranged on the frame body and connected with the clamping mechanism, and can drive the clamping mechanism to move relative to the frame body along the front-back direction so as to drive the clamping mechanism to move back and forth; in addition, the clamping mechanism is used for clamping the file box and can act to clamp the file box after moving forwards to a proper position so as to grasp the file box; in addition, the guide assembly comprises a guide rail and a slide seat, the guide rail is arranged on the frame body and extends along the front-back direction, the slide seat is slidably arranged on the guide rail along the front-back direction and is connected with the clamping mechanism, namely, the slide seat can only move back and forth along the guide rail, so that the moving direction of the clamping mechanism can be accurately limited in the front-back direction, and the guide effect on the clamping mechanism is achieved; then, the visual positioning assembly comprises a camera and a processing module which are electrically connected, the camera and the processing module are both arranged on the frame body, and the processing module is used for electrically connecting the collaborative robot, so that the camera can shoot the image information of the clamping mechanism and the file box in real time, and the processing module can control the collaborative robot to act according to the image information so as to utilize the collaborative robot to move the whole file grabbing device to the vicinity of the file box. The file grabbing device works as follows: firstly, moving the file grabbing device to the vicinity of the file box, wherein in the moving process, the camera can shoot and acquire image information of the clamping mechanism and the file box in real time, and the processing module can control the continuous action of the cooperative robot according to the real-time image information so as to enable the file grabbing device to move gradually; then starting the driving mechanism to enable the clamping mechanism to move forwards, wherein the clamping mechanism can be guided by the guide assembly in the moving process; then start fixture centre gripping archives box, realize the process of snatching to archives box. In the grabbing process, the file grabbing device integrates the visual positioning component, so that the problem that the visual positioning component is far away from the file grabbing device is avoided, the file grabbing device can be accurately positioned near the file box, the grabbing distance is increased due to the fact that the positioning position of the file grabbing device is far away from the file box, the grabbing precision of the file box is improved, and the file box is prevented from being damaged by clamping; this archives grabbing device can play the guide effect to fixture's back-and-forth movement through setting up the direction subassembly, avoids fixture to swing from top to bottom, improves fixture's moving accuracy, further improves the precision of snatching to the archives box.
Drawings
FIG. 1 is a schematic diagram of a visual positioning file grabbing device according to an embodiment of the present invention;
FIG. 2 is a side view of a visual positioning file grabbing device according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a partial structure of a visual positioning file grabbing device according to an embodiment of the present invention;
fig. 4 is a top view of two clamping plates of the visual positioning file grabbing device according to the embodiment of the invention.
Reference numerals illustrate:
1-support body, 11-first mounting bracket, 111-interface, 12-second mounting bracket, 13-travel switch, 21-follow driving wheel, 22-belt, 23-motor, 24-fly leaf, 241-connecting plate, 3-fixture, 31-thumb clamping jaw, 32-splint, 321-first plate body, 322-second plate body, 3221-clamping face, 3222-keep away empty slot, 3223-silica gel layer, 4-direction subassembly, 41-guide rail, 42-slide, 51-camera, 52-processing module, 6-clamp plate.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
In the description of the present invention, it should be understood that, if there are terms "upper", "lower", "front", "rear", "left", "right", the indicated orientation or positional relationship is based on that shown in the drawings, only for convenience of description and simplification of the description, and does not indicate or imply that the apparatus or element in question must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
Further, in the description of the present invention, the X-axis in the drawings represents the horizontal direction and is designated as the front-rear position, and the forward direction of the X-axis represents the front, and correspondingly, the reverse direction of the X-axis represents the rear; the Y-axis in the drawing represents the horizontal direction and is designated as the left-right position, and the forward direction of the Y-axis represents the left direction, and correspondingly, the reverse direction of the Y-axis represents the right direction; the Z-axis in the drawing represents the vertical direction, i.e., the up-down position, and the forward direction of the Z-axis represents the up direction, and the reverse direction of the Z-axis represents the down direction, respectively. It should be noted that the foregoing X-axis, Y-axis, and Z-axis are meant to be illustrative of the present invention and to simplify the description, and are not meant to indicate or imply that the devices or elements being referred to must be in a particular orientation, be configured and operated in a particular orientation, and are not to be construed as limiting the invention.
Referring to fig. 1 and 2, an embodiment of the present invention provides a visual positioning file grabbing device, configured to be disposed at an end of a collaborative robot, where the visual positioning file grabbing device includes a frame 1, a driving mechanism, a clamping mechanism 3, a guiding component 4, and a visual positioning component, the frame 1 is configured to be connected to the end of the collaborative robot, the driving mechanism is disposed on the frame 1 and is connected to the clamping mechanism 3, and is configured to drive the clamping mechanism 3 to move in a front-rear direction relative to the frame 1, the clamping mechanism 3 is configured to clamp a file box, the guiding component 4 includes a guide rail 41 and a sliding seat 42, the guide rail 41 is disposed on the frame 1 and extends in the front-rear direction, the sliding seat 42 is slidably mounted on the guide rail 41 in the front-rear direction and is connected to the clamping mechanism 3, the visual positioning component includes a camera 51 and a processing module 52 that are electrically connected, and the camera 51 and the processing module 52 are both disposed on the frame 1, and the processing module 52 is configured to electrically connect the collaborative robot.
The front-rear direction is the X-axis direction shown in fig. 1.
In the present embodiment, the frame body 1 may be connected to the end of the cooperative robot to connect the entire file gripping device to the end of the cooperative robot; meanwhile, the driving mechanism is arranged on the frame body 1 and connected with the clamping mechanism 3, and can drive the clamping mechanism 3 to move along the front-back direction relative to the frame body 1 so as to drive the clamping mechanism 3 to move back and forth; in addition, the clamping mechanism 3 is used for clamping the file box, and can act to clamp the file box after moving forwards to a proper position so as to grasp the file box; in addition, the guiding component 4 comprises a guide rail 41 and a sliding seat 42, the guide rail 41 is arranged on the frame body 1 and extends along the front-back direction, the sliding seat 42 is slidably arranged on the guide rail 41 along the front-back direction and is connected with the clamping mechanism 3, namely, the sliding seat 42 can only move forwards and backwards along the guide rail 41, so that the moving direction of the clamping mechanism 3 can be precisely limited in the front-back direction, and the guiding function of the clamping mechanism 3 is realized; then, the visual positioning assembly comprises a camera 51 and a processing module 52 which are electrically connected, the camera 51 and the processing module 52 are both arranged on the frame body 1, and the processing module 52 is used for electrically connecting the collaborative robot, so that the camera 51 can shoot the image information of the clamping mechanism 3 and the file box in real time, and the processing module 52 can control the collaborative robot to act according to the image information so as to utilize the collaborative robot to move the whole file grabbing device to the vicinity of the file box. The file grabbing device works as follows: firstly, moving the file grabbing device to the vicinity of the file box, wherein in the moving process, the camera 51 can shoot and acquire the image information of the clamping mechanism 3 and the file box in real time, and the processing module 52 can control the cooperative robot to continuously act according to the real-time image information so as to enable the file grabbing device to gradually move; then, the driving mechanism is started to enable the clamping mechanism 3 to move forwards, and the clamping mechanism 3 is guided by the guide assembly 4 in the moving process; then start fixture 3 centre gripping archives box, realize the process of snatching to the archives box. In the grabbing process, the file grabbing device integrates the visual positioning component, so that the problem that the visual positioning component is far away from the file grabbing device is avoided, the file grabbing device can be accurately positioned near the file box, the grabbing distance is increased due to the fact that the positioning position of the file grabbing device is far away from the file box, the grabbing precision of the file box is improved, and the file box is prevented from being damaged by clamping; this archives grabbing device can play the guide effect to the back-and-forth movement of fixture 3 through setting up guide assembly 4, avoids fixture 3 luffing motion, improves fixture 3's movement accuracy, further improves the precision of snatching to the archives box.
Optionally, referring to fig. 1 and 2, the frame body 1 includes a first mounting frame 11 and a second mounting frame 12, an interface 111 for connecting with a terminal of the cooperative robot is provided at a top of the first mounting frame 11, the second mounting frame 12 is connected to a lower end of the first mounting frame 11, and the second mounting frame 12 is disposed downward and extends obliquely forward; the driving mechanism, the guiding assembly 4 and the processing module 52 are arranged on the first mounting frame 11, and the camera 51 is arranged on the lower end wall of the second mounting frame 12.
In this embodiment, by arranging the camera 51 on the lower end wall of the second mounting frame 12, a certain distance is provided between the camera 51 and the clamping mechanism 3, so that the camera 51 and the clamping mechanism 3 are prevented from being too close to affect image shooting, and the visual positioning accuracy is ensured.
Optionally, referring to fig. 1 and 2, the camera 51 is located at a front position of the lower end wall of the second mounting frame 12.
In the present embodiment, by positioning the camera 51 in the forward position of the lower end wall, the shooting field of view of the camera 51 is ensured.
Optionally, referring to fig. 1 and 2, the driving mechanism includes a driving wheel, a driven wheel 21, a belt 22, a motor 23 and a movable plate 24, where the driving wheel and the driven wheel 21 are both disposed in the frame 1, the driven wheel 21 is located in front of the driving wheel, the axial direction of the driving wheel and the axial direction of the driven wheel 21 are both disposed left and right, the belt 22 is wound on the driving wheel and the driven wheel 21, the motor 23 is disposed in the frame 1 and connected with the driving wheel to drive the driving wheel to rotate around an axis, the movable plate 24 is disposed in the belt 22, and the movable plate 24 is respectively connected with the clamping mechanism 3 and the slide 42.
In this embodiment, the driving mechanism is set to be a driving wheel, a driven wheel 21, a belt 22, a motor 23 and a movable plate 24, and the motor 23 provides a power source to drive the belt 22 to move back and forth, so that the movable plate 24 can be driven to move back and forth, and further the clamping mechanism 3 and the sliding seat 42 connected to the movable plate 24 are driven to move along the front and back direction.
Optionally, referring to fig. 1 and 3, a connecting plate 241 is disposed at an upper end of the movable plate 24, and the connecting plate 241 is detachably connected to the sliding seat 42.
In particular, the removable connection of the connection plate 241 to the carriage 42 can be achieved, for example, by means of a screw connection.
In this embodiment, by providing the connection plate 241 at the upper end of the movable plate 24, and detachably connecting the connection plate 241 with the slide base 42, that is, indirectly connecting the movable plate 24 with the slide base 42 through the connection plate 241, the movable plate 24 is prevented from being directly connected with the slide base 42, which is more convenient for installation.
Alternatively, referring to fig. 1 and 2, a lower end surface of the movable plate 24 is concavely provided with a belt slot extending back and forth, and the belt 22 passes through the belt slot; the visual positioning file grabbing device further comprises a pressing plate 6, wherein the pressing plate 6 is detachably connected to the lower end of the movable plate 24, so that the belt 22 is pressed against the belt groove, and the movable plate 24 and the belt 22 are relatively fixed.
In particular, the removable connection of the pressure plate 6 to the movable plate 24 may be achieved, for example, by means of a bolted connection.
In this embodiment, the belt 22 can be pressed in the belt slot by detachably connecting the pressing plate 6 to the lower end of the movable plate 24, so that the movable plate 24 and the belt 22 are relatively fixed, the movable plate 24 is firmly mounted on the belt 22, and the disassembly is convenient.
Optionally, referring to fig. 2 and 3, the frame 1 is provided with two travel switches 13, the two travel switches 13 are located between the driving wheel and the driven wheel 21, the two travel switches 13 are respectively close to the driving wheel and the driven wheel 21, and the travel switches 13 are used for generating a limit signal when contacting with the pressing plate 6.
In this embodiment, by setting two travel switches 13, when the clamping mechanism 3 moves to the foremost end or the rearmost end, the travel switches 13 will contact with the pressing plate 6 to generate a limit signal, so that the motor 23 stops to stop the clamping mechanism 3 at the corresponding foremost end position or rearmost end position, thereby realizing the limit function on the clamping mechanism 3 and preventing the file box from falling.
Optionally, referring to fig. 1, the clamping mechanism 3 includes a thumb clamping jaw 31 and a clamping plate 32, the thumb clamping jaw 31 is connected with the driving mechanism, the clamping plate 32 is two, the two clamping plates 32 are respectively connected with two clamping jaw portions of the thumb clamping jaw 31, the two clamping plates 32 are arranged at intervals along the left-right direction, a clamping space for clamping the file box is defined between the two clamping plates 32, and the two clamping plates 32 are used for relatively approaching or moving away from under the driving of the thumb clamping jaw 31 so as to clamp or unclamp the file box in the clamping space.
In this embodiment, through setting up fixture 3 thumb clamping jaw 31 and splint 32, and two splint 32 correspond and connect two clamping jaw portions at thumb clamping jaw 31, can realize snatching the centre gripping to the archives box when two splint 32 move along with two clamping jaw portions, splint 32 have relatively great surface area, conveniently grip the archives box, and the archives box is difficult for dropping when the centre gripping.
Optionally, referring to fig. 4, the clamping plate 32 includes a first plate body 321 and a second plate body 322 that are perpendicular to each other, the first plate body 321 is disposed left and right, the second plate body 322 is disposed front and back, the second plate bodies 322 of the two clamping plates 32 have two opposite clamping surfaces 3221, and an end of the clamping surface 3221 near the first plate body 321 is provided with a clearance groove 3222 extending up and down.
It should be noted that, the spine of the file box is harder, and the front middle part of the file box is softer, and if the file box is directly clamped, a larger force can be generated on the spine, so that the hard spine presses the front middle part of the file box with softer pressure loss, and the file box is damaged. In this embodiment, the empty avoidance groove 3222 is formed on the clamping surface 3221, so that when the file box is clamped by the two clamping plates 32, the hard spine can just enter the empty avoidance groove 3222, and the hard spine can not push against the middle part of the front surface of the file box, so that the file box is prevented from being damaged.
Optionally, referring to fig. 4, a silica gel layer 3223 is disposed on the clamping surface 3221.
Specifically, the clamping plate 32 is further provided with a plurality of through holes, and the axial direction of the through holes is perpendicular to the clamping surface 3221, so that the weight of the clamping plate 32 is reduced, and meanwhile, the deformed portion of the silica gel layer 3223 can be contained when the silica gel layer 3223 is deformed so as to protect the silica gel layer 3223.
In this embodiment, by covering the clamping surface 3221 with the silica gel layer 3223, the silica gel layer 3223 has elasticity, so that the file box can be protected from being knocked; meanwhile, the silica gel layer 3223 has a certain friction force, so that the clamping force of the clamping plate 32 on the file box can be increased, and the file box is not easy to fall.
In the description of the present invention, it should be noted that, unless explicitly stated and limited otherwise, the terms "connected to," "provided with," "connected to," and "connected to" should be interpreted broadly, and for example, may be fixedly connected, may be detachably connected, or may be integrally connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In the description of the present invention, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. As such, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature.
Furthermore, in the description of the present invention, the term "embodiment" or "an embodiment" means that a particular feature, structure, material, or characteristic described in connection with the embodiment or implementation is included in at least one embodiment or implementation of the present invention. In the present invention, the schematic representation of the above terms does not necessarily refer to the same examples or implementations. Furthermore, the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or implementations.
Although the invention is disclosed above, the scope of the invention is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications will fall within the scope of the invention.
Claims (10)
1. The utility model provides a visual positioning archives grabbing device, its characterized in that is used for setting up in the end of cooperation robot, visual positioning archives grabbing device includes support body (1), actuating mechanism, fixture (3), direction subassembly (4) and visual positioning subassembly, support body (1) be used for connect in the end of cooperation robot, actuating mechanism locate support body (1) and with fixture (3) link to each other, be used for driving fixture (3) for support body (1) is along the fore-and-aft direction activity, fixture (3) are used for the centre gripping archives box, direction subassembly (4) include guide rail (41) and slide (42), guide rail (41) are located support body (1) and are extended along the fore-and-aft direction, slide (42) along fore-and-aft direction slidable install in guide rail (41) and with fixture (3) link to each other, visual positioning subassembly includes camera (51) and processing module (52) of electricity connection, camera (51) with processing module (52) are all located in cooperation robot (1).
2. A visual positioning file grabbing device as claimed in claim 1, wherein the frame body (1) comprises a first mounting frame (11) and a second mounting frame (12), an interface (111) for connecting with the tail end of the cooperative robot is arranged at the top of the first mounting frame (11), the second mounting frame (12) is connected with the lower end of the first mounting frame (11), and the second mounting frame (12) is arranged in a downward and forward inclined extending manner;
the driving mechanism, the guide assembly (4) and the processing module (52) are arranged on the first mounting frame (11), and the camera (51) is arranged on the lower end wall of the second mounting frame (12).
3. A visual positioning archive gripping device according to claim 2, characterized in that the camera (51) is located in a lower end wall of the second mounting frame (12) in a forward position.
4. A visual positioning file grabbing device as claimed in claim 1, wherein the driving mechanism comprises a driving wheel, a driven wheel (21), a belt (22), a motor (23) and a movable plate (24), wherein the driving wheel and the driven wheel (21) are both arranged on the frame body (1), the driven wheel (21) is positioned in front of the driving wheel, the driving wheel is axially arranged left and right with the driven wheel (21), the belt (22) is wound on the driving wheel and the driven wheel (21), the motor (23) is arranged on the frame body (1) and connected with the driving wheel to drive the driving wheel to rotate around an axis, the movable plate (24) is arranged on the belt (22), and the movable plate (24) is respectively connected with the clamping mechanism (3) and the sliding seat (42).
5. A visual positioning file gripping device according to claim 4, characterized in that the upper end of the movable plate (24) is provided with a connecting plate (241), said connecting plate (241) being detachably connected to the slide (42).
6. A visual positioning file gripping device according to claim 4, characterized in that the lower end surface of the movable plate (24) is concavely provided with a belt groove extending back and forth, through which the belt (22) passes;
The visual positioning file grabbing device further comprises a pressing plate (6), wherein the pressing plate (6) is detachably connected to the lower end of the movable plate (24) so as to press the belt (22) to the belt groove, and the movable plate (24) and the belt (22) are relatively fixed.
7. A visual positioning archive gripping device according to claim 6, characterized in that the frame (1) is provided with two travel switches (13), two travel switches (13) are located between the driving wheel and the driven wheel (21), and the two travel switches (13) are respectively close to the driving wheel and the driven wheel (21), and the travel switches (13) are used for generating limit signals when contacting with the pressing plate (6).
8. A visual positioning file grabbing device as claimed in claim 1, wherein the clamping mechanism (3) comprises a thumb clamping jaw (31) and a clamping plate (32), the thumb clamping jaw (31) is connected with the driving mechanism, the clamping plate (32) is provided with two clamping jaw parts, the two clamping plates (32) are respectively connected with the two clamping jaw parts of the thumb clamping jaw (31), the two clamping plates (32) are arranged at intervals along the left-right direction, a clamping space for clamping the file box is defined between the two clamping plates (32), and the two clamping plates (32) are used for relatively approaching or moving away under the driving of the thumb clamping jaw (31) so as to clamp or unclamp the file box in the clamping space.
9. A visual positioning file grabbing device as claimed in claim 8, wherein the clamping plates (32) comprise a first plate body (321) and a second plate body (322) which are perpendicular to each other, the first plate body (321) is arranged left and right, the second plate body (322) is arranged front and back, the second plate body (322) of the two clamping plates (32) has two clamping surfaces (3221) which are oppositely arranged, and a clearance groove (3222) which extends up and down is formed in one end of the clamping surface (3221) close to the first plate body (321).
10. A visual positioning file gripping device according to claim 9, characterized in that the gripping surface (3221) is covered with a layer of silica gel (3223).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410430482.8A CN118024225A (en) | 2024-04-11 | 2024-04-11 | Visual positioning file grabbing device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410430482.8A CN118024225A (en) | 2024-04-11 | 2024-04-11 | Visual positioning file grabbing device |
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| CN118024225A true CN118024225A (en) | 2024-05-14 |
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| CN202410430482.8A Pending CN118024225A (en) | 2024-04-11 | 2024-04-11 | Visual positioning file grabbing device |
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