CN205497520U - Work piece tongs based on robot vision - Google Patents
Work piece tongs based on robot vision Download PDFInfo
- Publication number
- CN205497520U CN205497520U CN201620349394.6U CN201620349394U CN205497520U CN 205497520 U CN205497520 U CN 205497520U CN 201620349394 U CN201620349394 U CN 201620349394U CN 205497520 U CN205497520 U CN 205497520U
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- China
- Prior art keywords
- workpiece
- handgrip
- gripper shoe
- hook
- fixed frame
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Abstract
The utility model provides a work piece tongs based on robot vision, it includes connects the arm connecting piece that is used for with the arm connection by fixed frame on fixed frame, fixed frame's both sides respectively are connected with the axle that opens and shuts, every epaxial all being equipped with of opening and shutting is used for along the gliding slider of axle that opens and shuts, tongs hook is all connected through a backup pad to every slider, the cylinder that opens and shuts is still connected separately to every backup pad, and the cylinder that opens and shuts is fixed on fixed frame, and the motion end and the backup pad of the cylinder that opens and shuts are connected, top between two tongss catch hold of with a hook is equipped with camera and a non -contact distance sensor and the 2nd non -contact distance sensor, all connect the cylinder that compresses tightly that sets up below every backup pad about in the of one, a briquetting is connected to the motion end that compresses tightly the cylinder. After adopting above -mentioned structure, can carry out automatic identification and snatch to the work piece.
Description
Technical field
This utility model relates to technical field of automation in industry, is especially a kind of workpiece based on robot vision
Handgrip.
Background technology
Prior art is substantially the means using a dead lift for the carrying of some workpiece and feeding, especially
It is for some lead pig used in melting field, ingot iron, steel ingot etc., in the process that workpiece is moved into smelting furnace
In, at the easily sputtering of the liquid in smelting furnace, cause injury to personnel.And these heavy metal species article of lead pig are in heating
During also can volatilize harmful gas, the person is harmful to, therefore can use mechanical arm to carry this workpiece,
But use mechanical arm when carrying workpiece, to be accomplished by using the handgrip of grabbing workpiece, but not yet have one at present
The handgrip that can automatically identify for workpiece and capture.
Utility model content
Technical problem to be solved in the utility model is, overcomes the defect of prior art, it is provided that a kind of permissible
Automatically the workpiece handgrip based on robot vision identifying for workpiece and capturing.
For solving above-mentioned technical problem, the utility model proposes a kind of workpiece handgrip based on robot vision, it
Including fixed frame, it is connected on fixed frame the mechanical arm connector for connecting with mechanical arm, described fixing
The both sides of framework respectively connect a folding axle, and described each folding axle is designed with the cunning for sliding along folding axle
Block, described each slide block all connects a handgrip hook by a gripper shoe, and two, described left and right handgrip hook is used for capturing
Workpiece, drives handgrip hook to move left and right when slide block slides on folding axle, described each gripper shoe also each connects
One folding cylinder, folding cylinder is fixed on fixed frame, and the tache motorice of folding cylinder is connected with gripper shoe, uses
In driving slide block to slide on folding axle, between said two handgrip hook, it is arranged over photographic head and first non-
Contact range sensor and the second contactless range sensor, be all connected with one below described each gripper shoe
Compression cylinder setting up and down, the tache motorice of described compression cylinder connects a briquetting, for propping up on handgrip hook
Workpiece.
After using said structure, this utility model uses two folding cylinders to control handgrip hook side-to-side movement and captures
Workpiece, uses photographic head to pass to the image below handgrip control end, for adjusting the position of handgrip, when grabbing
When hands moves to workpiece grabbing position, completed the crawl of workpiece by two folding cylinders of Guan Bi, lift the most again
Playing workpiece, when workpiece is raised to certain altitude, the pressure head end controlling two compression cylinders moves downward compression work
Part, prevents workpiece from dropping in the motor process of mechanical arm.During movement due to handgrip hook be by
Fagging is connected with slide block, and therefore slide block, gripper shoe carry the weight of workpiece, folding cylinder not by side force,
Therefore improve the life-span of folding cylinder, and when compression cylinder works, the compression masterpiece that compression cylinder produces
For workpiece, and thrust is not delivered on folding axle, therefore improves the service life of folding axle.Due to
Ingot at stacking time, the shape of ingot is the most identical, therefore only with photographic head shooting plane
Image in the aberration of each workpiece and surrounding enviroment little, therefore to further discriminate between workpiece, use the
One contactless range sensor and the second contactless range sensor detect sensor to surface of the work
Distance, thus judge the position whether having workpiece and workpiece below handgrip, adopt in this way, it is judged that essence
Du Genggao.
Described handgrip hook is connected on the supporting plate by a fixed plate setting up and down, and is synchronized with the movement with gripper shoe,
The work surface with absorption surface of described handgrip hook is provided with anti-slip veins.Use this structure, the load-bearing of handgrip hook
Being delivered on slide block by gripper shoe, therefore the output shaft of folding cylinder is not by side force, and employing anti-slip veins can
Prevent workpiece from skidding on handgrip hook.
It is additionally provided with on described fixed frame for propping up the buffer of two end faces about gripper shoe.Described buffer
The side-to-side movement of gripper shoe and slide block can be carried out spacing and buffering, prevent gripper shoe from damaging.
The end face of described briquetting is provided with cushion.Cushion typically uses rubber blanket or urethane pad, uses this knot
Structure, even if the upper surface of workpiece has certain being uneven, it is also possible to workpiece pressing.
Described first contactless range sensor and the second contactless range sensor use ultrasonic distance to pass
Sensor or optoelectronic distance sensor.Ultrasonic distance sensor and optoelectronic distance sensor be all contactless away from
One from sensor.
The both sides of the bottom of described fixed frame are equipped with LED.Use this structure, it is possible to increase workpiece
The brightness of lower section so that the image of photographic head shooting becomes apparent from, and improves the degree of accuracy of the detection location of workpiece.
Described mechanical arm connector uses adpting flange.Use adpting flange be connected with mechanical arm more consolidate firm.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model；
Fig. 2 is of the present utility model partly cuts open schematic diagram；
Fig. 3 is the structural representation at this utility model visual angle from bottom to top；
As shown in the figure: 1 mechanical arm connector, 2, handgrip hook, 3, workpiece, 4, cushion, 5, first is non-
Contact range sensor, the 6, second contactless range sensor, 7, compression cylinder, 8, pressure head, 9,
Folding axle, 10, slide block, 11, fixed plate, 12, folding cylinder, 13, cylinder mount frame, 14, photographic head,
15, light fixed plate, 16, LED, 17, buffer, 18, gripper shoe, 19, fixed frame.
Detailed description of the invention
With detailed description of the invention, this utility model is described in further detail below in conjunction with the accompanying drawings:
As shown in Figure 1, Figure 2, Figure 3 shows, this utility model provides a kind of workpiece handgrip based on robot vision,
It includes fixed frame 19, is connected on fixed frame 19 the mechanical arm connector 1 for connecting with mechanical arm,
The both sides of described fixed frame 19 respectively connect a folding axle 9, and folding axle 9 is arranged on fixed frame 19,
Left and right is arranged, and described each folding axle 9 is designed with the slide block 10 for sliding along folding axle 9, described often
Individual slide block 10 all connects a handgrip hook 2 by a gripper shoe 18, and two, described left and right handgrip hook 2 is used for capturing
Workpiece, drives handgrip hook 2 to move left and right, described each gripper shoe 18 when slide block 10 slides on folding axle 9
Also each connecting a folding cylinder 12, the cylinder body of folding cylinder 12 is arranged on fixing by cylinder mount frame 13
On framework 19, the output shaft of folding cylinder 12 is connected with gripper shoe 18, drives gripper shoe during output shaft motion
18 and slide block 10 slide, between said two handgrip hook 2 to be arranged over photographic head 14 and first non-
Contact range sensor 5 and the second contactless range sensor 6, below described each gripper shoe 18
Being all connected with a compression cylinder 7 setting up and down, the tache motorice of described compression cylinder 7 connects a briquetting 8, is used for
Prop up the workpiece 3 on handgrip hook 2.
In the application, the first contactless range sensor 5 detection is distant, and the second contactless distance passes
It is close together that sensor 6 detects, the first contactless range sensor 5 and the second contactless range sensor
6 all can arrange multiple, respectively arrange two in the application.
3 it is expressed as workpiece in the drawings.Operation principle of the present utility model is: taken pictures by photographic head, then
Photo is analyzed, finds out workpiece and carry out visual indicia, calculate position and the direction of workpiece, then lead to
Cross mechanical arm to move handgrip and move to the position of workpiece, due to the aberration of workpiece in actual applications with surrounding enviroment
Less, the most also use the first contactless range sensor to detect the distance between handgrip and surface of the work,
Thus make a distinction the edge of workpiece, after grabbing workpiece, it is also possible to use detecting distance nearer second
Contactless range sensor 6 detects whether to catch workpiece, it is judged that after grabbing workpiece, can be by pressure
Tight cylinder controls pressure head and moves downward workpiece pressing, prevents workpiece from dropping in motor process.This automatic inspection
The program survey, automatically capturing and automatically moving can be configured on the controller in mechanical arm.Due to machinery
Arm, originally as prior art, repeats the most again, and the mechanical arm used in the present embodiment is Kawasaki
CP130L tetra-axle stacking machine mechanical arm.
Described handgrip hook 2 is connected in gripper shoe 18 by a fixed plate 11 setting up and down, and and gripper shoe
18 are synchronized with the movement, and the work surface with absorption surface of described handgrip hook 2 is provided with anti-slip veins.
The buffer 17 for propping up about 18 two end faces of gripper shoe it is additionally provided with on described fixed frame 19.Institute
State buffer and typically use oil buffer.
The end face of described briquetting 8 is provided with cushion 4.
Described first contactless range sensor 5 and the second contactless range sensor 6 use ultrasound wave away from
From sensor or optoelectronic distance sensor.
The both sides of the bottom of described fixed frame are equipped with LED.The bottom of fixed frame 19 in the present embodiment
Both sides are respectively provided with a light fixed plate 15, and LED 16 is arranged in light fixed plate 15.
Described mechanical arm connector 1 uses adpting flange.
In the present embodiment, in order to protect the device on fixed frame 19 and requirement attractive in appearance, also at fixed frame
The housing being provided around sheet metal component of 19.But this has no effect on the protection domain of the application.
Claims (7)
1. a workpiece handgrip based on robot vision, it includes fixed frame (19), is connected to fixed frame
The upper mechanical arm connector (1) for connecting with mechanical arm of frame (19), it is characterised in that: described fixed frame
(19) both sides respectively connect a folding axle (9), described each folding axle (9) is designed with for along opening
The slide block (10) that sympodium (9) slides, described each slide block (10) all connects one by a gripper shoe (18)
Handgrip hook (2), two, described left and right handgrip hook (2) is used for grabbing workpiece, and slide block (10) is in folding axle (9)
Driving handgrip hook (2) to move left and right during upper slip, described each gripper shoe (18) also each connects a folding
Cylinder (12), folding cylinder (12) is fixed on fixed frame (19), the motion of folding cylinder (12)
End is connected with gripper shoe (18), is used for driving slide block (10) in the upper slip of folding axle (9), said two
Between handgrip hook (2) be arranged over photographic head (14) and the first contactless range sensor (5) and
Second contactless range sensor (6), is all connected with one below described each gripper shoe (18) setting up and down
Compression cylinder (7), the tache motorice of described compression cylinder (7) connects a briquetting (8), is used for propping up handgrip
Workpiece (3) on hook (2).
Workpiece handgrip based on robot vision the most according to claim 1, it is characterised in that grab described in:
Pew (2) is connected in gripper shoe (18) by a fixed plate (11) setting up and down, and and gripper shoe
(18) being synchronized with the movement, the work surface with absorption surface of described handgrip hook (2) is provided with anti-slip veins.
Workpiece handgrip based on robot vision the most according to claim 1, it is characterised in that: described solid
Determine the buffer (17) being additionally provided with on framework (19) for propping up two end faces in gripper shoe (18) left and right.
Workpiece handgrip based on robot vision the most according to claim 1, it is characterised in that: described pressure
The end face of block (8) is provided with cushion (4).
Workpiece handgrip based on robot vision the most according to claim 1, it is characterised in that: described
One contactless range sensor (5) and the second contactless range sensor (6) use ultrasonic distance to pass
Sensor or optoelectronic distance sensor.
Workpiece handgrip based on robot vision the most according to claim 1, it is characterised in that: described solid
The both sides of the bottom determining framework (19) are equipped with LED (16).
Workpiece handgrip based on robot vision the most according to claim 1, it is characterised in that: described machine
Mechanical arm connector (1) uses adpting flange.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620349394.6U CN205497520U (en) | 2016-04-22 | 2016-04-22 | Work piece tongs based on robot vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620349394.6U CN205497520U (en) | 2016-04-22 | 2016-04-22 | Work piece tongs based on robot vision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205497520U true CN205497520U (en) | 2016-08-24 |
Family
ID=56706371
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620349394.6U Active CN205497520U (en) | 2016-04-22 | 2016-04-22 | Work piece tongs based on robot vision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205497520U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107892170A (en) * | 2017-10-25 | 2018-04-10 | 厦门华蔚物联网科技有限公司 | One kind is built a wall installation hole lintel carrier, bricklaying robot and control method |
| CN108081303A (en) * | 2017-12-26 | 2018-05-29 | 重庆英拓机电设备有限公司 | Windscreen wiper connecting rod catching robot |
| CN109132514A (en) * | 2018-09-17 | 2019-01-04 | 徐州华恒机器人系统有限公司 | The self-centering pneumatic gripping device of high load |
| CN109507570A (en) * | 2018-12-21 | 2019-03-22 | 东莞华贝电子科技有限公司 | Integrated test system |
| CN112247521A (en) * | 2020-11-12 | 2021-01-22 | 长春工业大学 | Automobile body part grabbing device for automobile production line |
| CN114014139A (en) * | 2021-11-24 | 2022-02-08 | 江苏科技大学 | Three-dimensional curved plate carrying device for ship |
| CN115649857A (en) * | 2022-12-26 | 2023-01-31 | 柳工常州机械有限公司 | A robot that reaches standard grade for slewing bearing, center connect |
-
2016
- 2016-04-22 CN CN201620349394.6U patent/CN205497520U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107892170A (en) * | 2017-10-25 | 2018-04-10 | 厦门华蔚物联网科技有限公司 | One kind is built a wall installation hole lintel carrier, bricklaying robot and control method |
| CN107892170B (en) * | 2017-10-25 | 2019-08-13 | 厦门华蔚物联网科技有限公司 | A kind of bricklaying robot and control method |
| CN108081303A (en) * | 2017-12-26 | 2018-05-29 | 重庆英拓机电设备有限公司 | Windscreen wiper connecting rod catching robot |
| CN109132514A (en) * | 2018-09-17 | 2019-01-04 | 徐州华恒机器人系统有限公司 | The self-centering pneumatic gripping device of high load |
| CN109507570A (en) * | 2018-12-21 | 2019-03-22 | 东莞华贝电子科技有限公司 | Integrated test system |
| CN112247521A (en) * | 2020-11-12 | 2021-01-22 | 长春工业大学 | Automobile body part grabbing device for automobile production line |
| CN114014139A (en) * | 2021-11-24 | 2022-02-08 | 江苏科技大学 | Three-dimensional curved plate carrying device for ship |
| CN114014139B (en) * | 2021-11-24 | 2024-04-19 | 江苏科技大学 | Marine three-dimensional curved plate carrying device |
| CN115649857A (en) * | 2022-12-26 | 2023-01-31 | 柳工常州机械有限公司 | A robot that reaches standard grade for slewing bearing, center connect |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |