CN208468411U - Fixture and robot with it - Google Patents
Fixture and robot with it Download PDFInfo
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- CN208468411U CN208468411U CN201821016070.6U CN201821016070U CN208468411U CN 208468411 U CN208468411 U CN 208468411U CN 201821016070 U CN201821016070 U CN 201821016070U CN 208468411 U CN208468411 U CN 208468411U
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Abstract
The utility model provides a kind of fixture and the robot with it, fixture are mounted in robot, and for clamping and placing multiple workpiece, fixture includes: mounting portion, and mounting portion is for being mounted on robot；Vision portion, vision portion are arranged on mounting portion, and vision portion is used for taking pictures to operating position to each workpiece, to obtain the predetermined to operating position of each workpiece；Gripper assembly, gripper assembly is arranged on mounting portion, gripper assembly includes multiple clamping portions, multiple clamping portions are arranged correspondingly with multiple workpiece, multiple clamping portions are connect with vision portion, to show that the predetermined of each workpiece operates workpiece by the portion of clamping accordingly after operating position in vision portion, so that the corresponding predetermined each workpiece to operating position of each clamping portion clamping, or be placed on each clamping portion by each workpiece and make a reservation for on operating position.The fixture of the utility model solves the problems, such as that multiple clamping jaws in fixture in the prior art cannot achieve independent clamping.
Description
Technical field
The utility model relates to robotic technology fields, in particular to a kind of fixture and with its robot.
Background technique
Currently, in order to improve the crawl working efficiency of robot, it usually needs multiple clamping jaws are arranged to carry out grabbing for workpiece
It takes and places.In the prior art, the movement of multiple clamping jaws is synchronous.
However, different specific positions is placed in this case in the workpiece of crawl different location or by workpiece, it is above-mentioned
Structure is unable to complete operation.
Utility model content
The main purpose of the utility model is to provide a kind of fixture and with its robot, to solve in the prior art
Fixture in multiple clamping jaws the problem of cannot achieve independent clamping.
To achieve the goals above, one aspect according to the present utility model provides a kind of fixture, is mounted on robot
On, for clamping and placing multiple workpiece, fixture includes: mounting portion, and mounting portion is for being mounted on robot；Vision portion, depending on
Feel portion is arranged on mounting portion, and vision portion is used for successively taking pictures to operating position to each workpiece, to obtain each work
Part makes a reservation for operating position；Gripper assembly, gripper assembly are arranged on mounting portion, and gripper assembly includes multiple clamping portions, more
A clamping portion is arranged correspondingly with multiple workpiece, and multiple clamping portions are connect with vision portion, each to obtain in vision portion
The predetermined of workpiece operates workpiece by the portion of clamping accordingly after operating position, so that the clamping of each clamping portion is corresponding pre-
Fixed each workpiece to operating position, or be placed on each clamping portion by each workpiece and make a reservation for on operating position.
Further, gripper assembly includes two clamping portions, and two clamping portions are arranged on mounting portion and are oppositely arranged
In the two sides in vision portion.
Further, clamping portion includes driving cylinder and clamping jaw, and driving cylinder is mounted on mounting portion, driving cylinder and folder
Pawl is drivingly connected, so that clamping jaw is opened or is closed under the action of driving cylinder.
Further, vision portion is vision camera, and vision camera includes camera main-body and the camera lens that connect with camera main-body,
Camera lens is directed away from the side setting of camera main-body.
Further, fixture further include: light source assembly, light source assembly are connect with mounting portion, the direction of light source assembly
It is identical as the direction of camera lens, so that light source assembly irradiation is predetermined to operating position.
Further, light source assembly includes light source component, and light source component is annular light source, and annular light source has accommodation space, mirror
Head is arranged in the accommodation space of annular light source.
Further, light source assembly includes two supporting elements, and two supporting elements are oppositely arranged on the two sides in vision portion, is supported
One end of part is connect with mounting portion, and the other end of supporting element is connect with light source component, with fixed light source part.
Further, mounting portion includes the first installation part and the second installation part for connecting with the first installation part, the first installation
For part for being mounted on robot, vision portion and gripper assembly are installed in side of second installation part far from the first installation part.
Further, the second installation part has multiple lightening holes, multiple lightening hole interval settings.
Another aspect according to the present utility model provides a kind of robot, including fixture, wherein fixture is above-mentioned
Fixture.
The fixture of the utility model connects by setting vision portion and multiple clamping portions, and by multiple clamping portions and vision portion
It connects, the corresponding predetermined each workpiece to operating position of each clamping portion clamping may be implemented, or make each clamping portion will be each
Workpiece is placed on predetermined on operating position.The fixture realizes different clamping portions and individually operates to different workpiece,
Realize the intellectually and automatically of fixture.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide a further understanding of the present invention, this is practical
Novel illustrative embodiments and their description are not constituteed improper limits to the present invention for explaining the utility model.
In the accompanying drawings:
Fig. 1 shows the front view of the embodiment of fixture according to the present utility model；
Fig. 2 shows sectional views at the A-A of the fixture in Fig. 1；
Fig. 3 shows the schematic diagram of an angle of the embodiment of fixture according to the present utility model；And
Fig. 4 shows the schematic diagram of another angle of the embodiment of fixture according to the present utility model.
Wherein, the above drawings include the following reference numerals:
10, mounting portion；11, the first installation part；12, the second installation part；20, vision portion；21, camera main-body；22, camera lens；
30, gripper assembly；31, clamping portion；311, cylinder is driven；312, clamping jaw；40, light source assembly；41, light source component；411, it accommodates empty
Between；42, supporting element.
Specific embodiment
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The utility model will be described in detail below with reference to the accompanying drawings and embodiments.
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
The utility model provides a kind of fixture, and please refer to figs. 1 to 4, is mounted in robot, for clamping and placing
Multiple workpiece, fixture include: mounting portion 10, and mounting portion 10 is for being mounted on robot；Vision portion 20, the setting of vision portion 20 exist
On mounting portion 10, vision portion 20 is used for successively taking pictures to operating position to each workpiece, to obtain the pre- of each workpiece
Determine to operating position；Gripper assembly 30, gripper assembly 30 are arranged on mounting portion 10, and gripper assembly 30 includes multiple clamping portions
31, multiple clamping portions 31 are arranged correspondingly with multiple workpiece, and multiple clamping portions 31 are connect with vision portion 20, in vision
Portion 20 show that the predetermined of each workpiece operates workpiece by the portion of clamping accordingly 31 after operating position, so that each clamping
Portion 31 clamps corresponding predetermined each workpiece to operating position, or make each clamping portion 31 by each workpiece be placed on it is predetermined to
On operating position.
The fixture of the utility model by multiple clamping portions 31 and is regarded by setting vision portion 20 and multiple clamping portions 31
Feel portion 20 connects, and each clamping portion 31 may be implemented and clamp corresponding predetermined each workpiece to operating position, or make each folder
Portion 31 is taken to be placed on each workpiece predetermined on operating position.The fixture realizes different clamping portions 31 individually to different
Workpiece is operated, and the intellectually and automatically of fixture is realized.
In the present embodiment, include placement location and crawl position to operating position, make a reservation for operating position include predetermined
Placement location and predetermined crawl position, wherein placement location is corresponding with predetermined placement location, crawl position and predetermined crawl position
It is corresponding.
When it is implemented, vision portion 20 is for taking pictures to the placement location of each workpiece to obtain the pre- of each workpiece
Determine placement location, with after the predetermined placement location for each workpiece that vision portion 20 obtains by the portion of clamping accordingly 31 by work
Part is placed on predetermined placement location.
In the course of work that fixture places workpiece, fixture drives multiple workpiece to be moved to first placement location, passes through
Vision portion 20 obtains first predetermined placement location, after gripper assembly 30 obtains first predetermined placement location, gripper assembly 30
It drives corresponding clamping portion 31 to move at first predetermined placement location, which is placed on first predetermined placement location
On, next, fixture is moved to second placement location again, repeat the above steps, so that all workpiece are placed on accordingly in advance
Determine on placement location.The fixture realizes the different individually placed workpiece in clamping portion 31, specific workpiece can be placed on spy
Fixed position.
When it is implemented, vision portion 20 is also used to take pictures to the crawl position of each workpiece to obtain the corresponding of workpiece
Predetermined crawl position, with behind the predetermined crawl position for each workpiece that vision portion 20 obtains by the portion of clamping accordingly 31
From predetermined crawl position grabbing workpiece.
In the course of work of fixture clamping workpiece, fixture is moved to first crawl position, is obtained by vision portion 20
First predetermined crawl position, after gripper assembly 30 obtains first predetermined crawl position, gripper assembly 30 drives corresponding folder
It takes portion 31 to move at first predetermined crawl position, the workpiece on first predetermined crawl position is grabbed, next,
Fixture is moved to second crawl position again, repeats the above steps, to complete the crawl to the workpiece of different location.The fixture is real
The different independent grabbing workpieces in clamping portion 31 is showed.
Preferably, as shown in Figures 1 to 4, gripper assembly 30 includes two clamping portions 31, and two clamping portions 31 are arranged at
On mounting portion 10 and it is oppositely arranged on the two sides in vision portion 20.It is different pre- that such setting can make fixture clamping be placed on
Determine two workpiece of crawl position, and/or two workpiece that fixture clamps are placed on different predetermined placement locations.
When it is implemented, driving cylinder 311 is installed as shown in figure 3, clamping portion 31 includes driving cylinder 311 and clamping jaw 312
On mounting portion 10, driving cylinder 311 and clamping jaw 312 are drivingly connected, so that clamping jaw 312 is opened under the action of driving cylinder 311
It opens or is closed.
In the present embodiment, as depicted in figs. 1 and 2, vision portion 20 is vision camera, and vision camera includes camera main-body 21
With the camera lens 22 connecting with camera main-body 21, camera lens 22 is directed away from the side setting of camera main-body 21.
In the present embodiment, as shown in figure 3, fixture further includes light source assembly 40, light source assembly 40 is connect with mounting portion 10,
The direction of light source assembly 40 is identical as the direction of camera lens 22, so that the irradiation of light source assembly 40 is predetermined to operating position.
When vision portion 20 takes pictures, camera site can be made apparent by light source assembly 40.
When it is implemented, light source component 41 is annular light source, ring light as shown in figure 3, light source assembly 40 includes light source component 41
Source has accommodation space 411, and camera lens 22 is arranged in the accommodation space 411 of annular light source.Such setting can obtain more preferably
Light source, adequately irradiate camera site, take pictures convenient for vision portion 20.
When it is implemented, two supporting elements 42 are oppositely arranged as shown in figure 4, light source assembly 40 includes two supporting elements 42
In the two sides in vision portion 20, one end of supporting element 42 is connect with mounting portion 10, and the other end of supporting element 42 is connect with light source component 41,
With fixed light source part 41.
In the present embodiment, as shown in figure 3, mounting portion 10 includes the first installation part 11 and connect with the first installation part 11
Second installation part 12, for the first installation part 11 for being mounted on robot, vision portion 20 and gripper assembly 30 are installed in second
Side of the installation part 12 far from the first installation part 11.
In the present embodiment, the second installation part 12 has multiple lightening holes, multiple lightening hole interval settings.Such setting
The weight for alleviating fixture mitigates the load of robot.
The utility model additionally provides a kind of robot, including fixture, wherein fixture is above-mentioned fixture.
It can be seen from the above description that the above embodiments of the utility model achieve the following technical effects:
The fixture of the utility model by multiple clamping portions 31 and is regarded by setting vision portion 20 and multiple clamping portions 31
Feel portion 20 connects, and each clamping portion 31 may be implemented and clamp corresponding predetermined each workpiece to operating position, or make each folder
Portion 31 is taken to be placed on each workpiece predetermined on operating position.The fixture realizes different clamping portions 31 individually to different
Workpiece is operated, and the intellectually and automatically of fixture is realized.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so that presently filed embodiment described herein for example can be in addition to herein
Sequence other than those of diagram or description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that
Be to cover it is non-exclusive include, for example, containing the process, method, system, product or equipment of a series of steps or units not
Those of be necessarily limited to be clearly listed step or unit, but may include be not clearly listed or for these processes, side
The intrinsic other step or units of method, product or equipment.
For ease of description, spatially relative term can be used herein, as " ... on ", " ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be understood that spatially relative term is intended to comprising the orientation in addition to device described in figure
Except different direction in use or operation.For example, being described as if the device in attached drawing is squeezed " in other devices
It will be positioned as " under other devices or construction after part or construction top " or the device of " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " may include " ... top " and
" in ... lower section " two kinds of orientation.The device can also be positioned with other different modes and (is rotated by 90 ° or in other orientation), and
And respective explanations are made to the opposite description in space used herein above.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (10)
1. a kind of fixture, is mounted in robot, for clamping and placing multiple workpiece, which is characterized in that the fixture includes:
Mounting portion (10), the mounting portion (10) is for being mounted on the robot；
Vision portion (20), the vision portion (20) are arranged on the mounting portion (10), and the vision portion (20) is used for each
The workpiece is successively taken pictures to operating position, to obtain the predetermined to operating position of each workpiece；
Gripper assembly (30), the gripper assembly (30) are arranged on the mounting portion (10), and the gripper assembly (30) includes
Multiple clamping portions (31), multiple clamping portions (31) are arranged correspondingly with multiple workpiece, multiple clamping portions (31)
It is connect with the vision portion (20), to obtain the described predetermined to operating position of each workpiece in the vision portion (20)
The workpiece is operated by the corresponding clamping portion (31) afterwards, so that each clamping portion (31) clamping is corresponding pre-
Fixed each workpiece to operating position, or make each clamping portion (31) that each workpiece is placed on described make a reservation for
To on operating position.
2. fixture according to claim 1, which is characterized in that the gripper assembly (30) includes two clamping portions (31),
Two clamping portions (31) are arranged on the mounting portion (10) and are oppositely arranged on the two sides of the vision portion (20).
3. fixture according to claim 1, which is characterized in that the clamping portion (31) includes driving cylinder (311) and presss from both sides
Pawl (312), the driving cylinder (311) are mounted on the mounting portion (10), the driving cylinder (311) and the clamping jaw
(312) it is drivingly connected, so that the clamping jaw (312) is opened or is closed under the action of driving cylinder (311).
4. fixture according to claim 1, which is characterized in that the vision portion (20) is vision camera, the vision phase
Machine includes camera main-body (21) and the camera lens (22) connecting with the camera main-body (21), and the camera lens (22) is directed away from described
The side of camera main-body (21) is arranged.
5. fixture according to claim 4, which is characterized in that the fixture further include:
Light source assembly (40), the light source assembly (40) connect with the mounting portion (10), the direction of the light source assembly (40)
Direction is identical as the direction of the camera lens (22), so that the light source assembly (40) irradiation is described predetermined to operating position.
6. fixture according to claim 5, which is characterized in that the light source assembly (40) includes light source component (41), described
Light source component (41) is annular light source, and the annular light source has accommodation space (411), and the camera lens (22) is arranged in the annular
In the accommodation space (411) of light source.
7. fixture according to claim 6, which is characterized in that the light source assembly (40) includes two supporting elements (42),
Two supporting elements (42) are oppositely arranged on the two sides of the vision portion (20), one end of the supporting element (42) and the peace
Dress portion (10) connection, the other end of the supporting element (42) is connect with the light source component (41), with the fixation light source component (41).
8. fixture according to claim 1, which is characterized in that the mounting portion (10) include the first installation part (11) and with
The second installation part (12) of first installation part (11) connection, first installation part (11) is for being mounted on the robot
On, the vision portion (20) and the gripper assembly (30) are installed in second installation part (12) far from first installation
The side of part (11).
9. fixture according to claim 8, which is characterized in that second installation part (12) has multiple lightening holes, more
A lightening hole interval setting.
10. a kind of robot, including fixture, which is characterized in that the fixture folder as claimed in any one of claims 1 to 9
Tool.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821016070.6U CN208468411U (en) | 2018-06-27 | 2018-06-27 | Fixture and robot with it |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821016070.6U CN208468411U (en) | 2018-06-27 | 2018-06-27 | Fixture and robot with it |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208468411U true CN208468411U (en) | 2019-02-05 |
Family
ID=65212025
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821016070.6U Active CN208468411U (en) | 2018-06-27 | 2018-06-27 | Fixture and robot with it |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208468411U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108724229A (en) * | 2018-06-27 | 2018-11-02 | 珠海格力智能装备有限公司 | Fixture and robot with it |
| CN110340300A (en) * | 2019-07-18 | 2019-10-18 | 金华市宝琳工贸有限公司 | A kind of salt core charging gear |
| CN110654601A (en) * | 2019-09-29 | 2020-01-07 | 珠海格力智能装备有限公司 | Assembly equipment and electric rice cooker packaging production line |
-
2018
- 2018-06-27 CN CN201821016070.6U patent/CN208468411U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108724229A (en) * | 2018-06-27 | 2018-11-02 | 珠海格力智能装备有限公司 | Fixture and robot with it |
| CN110340300A (en) * | 2019-07-18 | 2019-10-18 | 金华市宝琳工贸有限公司 | A kind of salt core charging gear |
| CN110340300B (en) * | 2019-07-18 | 2020-10-02 | 金华市宝琳工贸有限公司 | Salt core feeding device |
| CN110654601A (en) * | 2019-09-29 | 2020-01-07 | 珠海格力智能装备有限公司 | Assembly equipment and electric rice cooker packaging production line |
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| GR01 | Patent grant | ||
| GR01 | Patent grant |