CN214924510U - Positioning clamping device based on robot vision - Google Patents
Positioning clamping device based on robot vision Download PDFInfo
- Publication number
- CN214924510U CN214924510U CN202121197866.8U CN202121197866U CN214924510U CN 214924510 U CN214924510 U CN 214924510U CN 202121197866 U CN202121197866 U CN 202121197866U CN 214924510 U CN214924510 U CN 214924510U
- Authority
- CN
- China
- Prior art keywords
- wall
- fixed
- electromagnet
- robot vision
- clamping device
- 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.)
- Expired - Fee Related
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a device is got to location clamp based on robot vision, including the mounting panel, mounting panel fixed mounting is in operation platform's bottom, the bottom outer wall of mounting panel is fixed with electric putter, electric putter's piston rod top is fixed with the fixed plate, one side outer wall of fixed plate is fixed with the layer board, the bar hole has been seted up to the outer wall of layer board, and the inner wall in bar hole is pegged graft and is had the slider, the inner wall of slider is provided with stop gear, and the top of layer board is provided with actuating mechanism, the inner wall of installation cavity is provided with centre gripping auxiliary component. This device is got to location clamp based on robot vision is provided with pressure sensor and splint, sets for pressure sensor's alarm value according to the elasticity coefficient of carton before the centre gripping, according to pressure sensor's feedback during the centre gripping, timely adjustment motor drives the displacement of slider, avoids producing the damage to it too big to box clamping-force, can keep its centre gripping reliable and stable simultaneously again.
Description
Technical Field
The utility model relates to a technical field is got to the location clamp, specifically is a device is got to location clamp based on robot vision.
Background
In the field of automation equipment, visual positioning technologies using machine vision are increasingly relied on, different visual positioning technologies of targets are distinguished according to target types, the visual positioning technologies can be divided into positioning technologies based on cooperative targets and positioning technologies based on non-cooperative targets, the cooperative targets can be divided into natural features and artificial marker features, and the visual positioning technology has a vital role in a positioning and clamping method of an object in the working process of a robot.
In summary, in the existing robot device, in the using process, the robot vision clamping device has poor clamping stability, is inconvenient to clamp an object, and has a single function, so that a positioning and clamping device based on the robot vision is needed.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a device is got to location clamp based on robot vision to solve the current robotic device who proposes in the above-mentioned background art, at the in-process that uses, robot vision clamping device clamping stability is relatively poor, and is not convenient for carry out the centre gripping to the article, the comparatively single problem of functionality.
In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a device is got to location clamp based on robot vision, includes the mounting panel, mounting panel fixed mounting is in operation platform's bottom, the bottom outer wall of mounting panel is fixed with electric putter, electric putter's piston rod top is fixed with the fixed plate, one side outer wall of fixed plate is fixed with the layer board, the bar hole has been seted up to the outer wall of layer board, and the inner wall in bar hole is pegged graft and is had the slider, the inner wall of slider is provided with stop gear, and the top of layer board is provided with actuating mechanism, the bottom outer wall of slider is fixed with splint, the mounting groove has been seted up to one side outer wall of splint, and the inner wall of mounting groove is fixed with pressure sensor, and the inner wall of splint has seted up the installation cavity, the inner wall of installation cavity is provided with centre gripping auxiliary component.
Preferably, the limiting mechanism comprises a first electromagnet, a limiting cavity is formed in the inner wall of the sliding block, the first electromagnet is fixed on the inner wall of the limiting cavity, first springs are fixed on the outer walls of the two sides of the first electromagnet, an inserting rod is fixed at one end of each first spring, and a corresponding first electromagnet is fixed on the outer wall of each inserting rod.
Preferably, the outer wall of the supporting plate is provided with limiting holes distributed in a linear array, and the size of the inserted bar is matched with that of the limiting holes.
Preferably, the driving mechanism comprises a motor, the motor is fixed on the outer wall of the top of the supporting plate, a bidirectional threaded rod is fixed at the top end of an output shaft of the motor, a threaded hole is formed in the inner wall of the sliding block, and the bidirectional threaded rod is connected with the inner wall of the threaded hole through threads.
Preferably, the clamping auxiliary component comprises a second electromagnet, the inner wall of the clamping plate is provided with an installation cavity, the second electromagnet is fixed on the inner wall of the installation cavity, a second spring is fixed on the outer wall of one side of the second electromagnet, a corresponding second electromagnet is fixed at one end of the second spring, and a baffle is fixed on the outer wall of one side of the corresponding second electromagnet.
Preferably, a sliding rod is fixed on the outer wall of one side corresponding to the second electromagnet, and the sliding rod is connected with the second electromagnet in an inserting mode.
Preferably, a camera is fixed on the outer wall of the bottom of the supporting plate.
Compared with the prior art, the beneficial effects of the utility model are that: the centerless grinder feeding device convenient for feeding,
(1) the automatic carton clamping device is provided with a pressure sensor and a clamping plate, an alarm value of the pressure sensor is set according to the elastic coefficient of the carton before clamping, and the moving distance of a motor driving a sliding block is adjusted in time according to the feedback of the pressure sensor during clamping, so that the damage to a carton body caused by overlarge clamping force is avoided, and the clamping stability and reliability of the carton body can be kept;
(2) the clamping device is provided with a first electromagnet, a sliding block and an inserting rod, after the clamping force is determined, the first electromagnet is powered off, the inserting rod is inserted into a limiting hole formed in the outer wall of the supporting plate under the tension action of a first spring, the position of the sliding block is fixed, the bidirectional threaded rod is prevented from rotating due to shaking in the carrying process, the box body is prevented from being clamped and loosened, and the risk of loosening is avoided;
(3) be provided with second electro-magnet and baffle, when the centre gripping removed, cut off the power supply to the second electro-magnet, outwards release the baffle under the tension effect of second spring for provide the bearing in the bottom of box, avoid the not hard up condition that the box dropped even of centre gripping that the process production vibrations that remove at the centre gripping led to take place, further promote the stability to the box centre gripping.
Drawings
FIG. 1 is a schematic view of the cross-sectional structure of the present invention;
FIG. 2 is a top view of the middle support plate of the present invention;
FIG. 3 is a schematic side view of the present invention;
FIG. 4 is a schematic view of a partial cross-sectional structure of the middle slider of the present invention;
fig. 5 is a partially enlarged view of a portion a in fig. 1 according to the present invention.
In the figure: 1. a support plate; 2. mounting a plate; 3. an electric push rod; 4. a fixing plate; 5. a motor; 6. a bidirectional threaded rod; 7. a slider; 71. a threaded hole; 72. a limiting cavity; 73. a first electromagnet; 74. a first spring; 75. corresponding to the first electromagnet; 76. inserting a rod; 8. a splint; 81. a mounting cavity; 82. a second electromagnet; 83. a slide bar; 84. a second spring; 85. corresponding to the second electromagnet; 86. a baffle plate; 87. a pressure sensor; 9. a camera is provided.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1-5, the present invention provides a technical solution: the utility model provides a device is got to location clamp based on robot vision, including mounting panel 2, 2 fixed mounting in the bottom of operation platform of mounting panel, the bottom outer wall of mounting panel 2 is fixed with electric putter 3, electric putter 3's piston rod top is fixed with fixed plate 4, one side outer wall of fixed plate 4 is fixed with layer board 1, the bar hole has been seted up to layer board 1's outer wall, the inner wall in bar hole is pegged graft and is had slider 7, slider 7's inner wall is provided with stop gear, and layer board 1's top is provided with actuating mechanism, slider 7's bottom outer wall is fixed with splint 8, the mounting groove has been seted up to one side outer wall of splint 8, the inner wall of mounting groove is fixed with pressure sensor 87, and splint 8's inner wall has seted up installation cavity 81, the inner wall of installation cavity 81 is provided with centre gripping auxiliary component.
As shown in fig. 2 and 4, the limiting mechanism includes a first electromagnet 73, a limiting cavity 72 is formed in the inner wall of the sliding block 7, the first electromagnet 73 is fixed on the inner wall of the limiting cavity 72, first springs 74 are fixed on the outer walls of two sides of the first electromagnet 73, an insertion rod 76 is fixed at one end of each first spring 74, a corresponding first electromagnet 75 is fixed on the outer wall of each insertion rod 76, the first electromagnet 73 is powered off, the insertion rod 76 is inserted into a limiting hole formed in the outer wall of the supporting plate 1 under the tension action of each first spring 74 at the moment, the position of the sliding block 7 is fixed, the bidirectional threaded rod 6 is prevented from rotating due to shaking in the carrying process, clamping of the box body is prevented from loosening, limiting holes distributed in a linear array are formed in the outer wall of the supporting plate 1, the size of the insertion rod 76 is matched with the size of the limiting hole, and the insertion is smooth.
As shown in fig. 1, 2, 3 and 5, the driving mechanism includes a motor 5, the motor 5 is fixed on the top outer wall of the supporting plate 1, a bidirectional threaded rod 6 is fixed on the top end of an output shaft of the motor 5, a threaded hole 71 is formed in the inner wall of the slider 7, the bidirectional threaded rod 6 is in threaded connection with the inner wall of the threaded hole 71, the slider 7 is driven to move by the driving mechanism, so that the clamping plate 8 clamps the target, the clamping auxiliary component includes a second electromagnet 82, a mounting cavity 81 is formed in the inner wall of the clamping plate 8, the second electromagnet 82 is fixed on the inner wall of the mounting cavity 81, a second spring 84 is fixed on the outer wall of one side of the second electromagnet 82, one end of the second spring 84 is fixed with a corresponding second electromagnet 85, a baffle 86 is fixed on the outer wall of one side corresponding to the second electromagnet 85, at this time, the second electromagnet 82 is powered off, the baffle 86 is pushed out under the tension of the second spring 84, the bottom of the box body is supported, so that the situation that the clamping is loosened or even the box body falls due to vibration generated in the clamping moving process is avoided.
As shown in fig. 1, 2 and 5, a sliding rod 83 is fixed on an outer wall of one side corresponding to the second electromagnet 85, the sliding rod 83 is connected with the second electromagnet 82 in an inserting manner, the sliding process of the baffle 86 is smoother due to the arrangement of the sliding rod 83, a camera 9 is fixed on an outer wall of the bottom of the supporting plate 1, information such as the position and the height of a target object can be calculated through the camera 9, and the clamping positioning process is more convenient and faster due to the camera 9.
The working principle is as follows: the device is fixed at the bottom of mechanical equipment through a mounting plate 2, the device is moved to the upper part of a box body, an electric push rod 3 is started to drive a supporting plate 1 to move downwards, information such as the position and the height of a target object can be measured through a camera 9, a motor 5 is started to drive a bidirectional threaded rod 6 to rotate, so that sliding blocks 7 symmetrically arranged on two sides move towards the center, a clamping plate 8 is finally driven to move towards the box body, the box body is clamped, the clamping force of the box body is prevented from being damaged due to overlarge clamping force according to the feedback of a pressure sensor 87, a first electromagnet 73 is powered off after the clamping force is determined, an inserting rod 76 is inserted into a limiting hole arranged on the outer wall of the supporting plate 1 under the tension action of a first spring 74, the position of the sliding block 7 is fixed, the bidirectional threaded rod 6 is prevented from rotating due to shaking in the conveying process, and the clamping of the box body is prevented from being loosened, avoid appearing not hard up risk, realize the lifting to the box through control electric putter 3 after the centre gripping, the vertical direction of multiunit pressure sensor 87 this moment distributes on the outer wall of splint 8, cut off the power supply to second electro-magnet 82 this moment, outwards release baffle 86 under the tension effect of second spring 84, make and provide the bearing in the bottom of box, the condition emergence of the not hard up even box of centre gripping that the process production vibrations that avoid removing at the centre gripping leads to drops, further promote the stability to the box centre gripping.
The terms "central," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for ease of description, but are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the scope of the invention.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (7)
1. The utility model provides a device is got to location clamp based on robot vision, includes mounting panel (2), mounting panel (2) fixed mounting is in work platform's bottom, its characterized in that: the bottom outer wall of mounting panel (2) is fixed with electric putter (3), the piston rod top of electric putter (3) is fixed with fixed plate (4), one side outer wall of fixed plate (4) is fixed with layer board (1), the bar hole has been seted up to the outer wall of layer board (1), and the inner wall in bar hole is pegged graft and is had slider (7), the inner wall of slider (7) is provided with stop gear, and the top of layer board (1) is provided with actuating mechanism, the bottom outer wall of slider (7) is fixed with splint (8), the mounting groove has been seted up to one side outer wall of splint (8), and the inner wall of mounting groove is fixed with pressure sensor (87), and the inner wall of splint (8) has seted up installation cavity (81), the inner wall of installation cavity (81) is provided with the centre gripping auxiliary component.
2. The robot vision based positioning and clamping device as claimed in claim 1, wherein: the limiting mechanism comprises a first electromagnet (73), a limiting cavity (72) is formed in the inner wall of the sliding block (7), the first electromagnet (73) is fixed on the inner wall of the limiting cavity (72), first springs (74) are fixed on the outer walls of the two sides of the first electromagnet (73), an inserting rod (76) is fixed at one end of each first spring (74), and a corresponding first electromagnet (75) is fixed on the outer wall of each inserting rod (76).
3. The robot vision based positioning and clamping device as claimed in claim 2, wherein: the outer wall of the supporting plate (1) is provided with limiting holes distributed in a linear array mode, and the size of the inserted rod (76) is matched with the size of the limiting holes.
4. The robot vision based positioning and clamping device as claimed in claim 1, wherein: the driving mechanism comprises a motor (5), the motor (5) is fixed on the outer wall of the top of the supporting plate (1), a bidirectional threaded rod (6) is fixed to the top end of an output shaft of the motor (5), a threaded hole (71) is formed in the inner wall of the sliding block (7), and the bidirectional threaded rod (6) is connected with the inner wall of the threaded hole (71) through threads.
5. The robot vision based positioning and clamping device as claimed in claim 1, wherein: the centre gripping auxiliary component includes second electro-magnet (82), installation cavity (81) have been seted up to the inner wall of splint (8), second electro-magnet (82) are fixed in the inner wall of installation cavity (81), one side outer wall of second electro-magnet (82) is fixed with second spring (84), the one end of second spring (84) is fixed with corresponding second electro-magnet (85), one side outer wall that corresponds second electro-magnet (85) is fixed with baffle (86).
6. The robot vision based positioning and clamping device as claimed in claim 5, wherein: a sliding rod (83) is fixed on the outer wall of one side corresponding to the second electromagnet (85), and the sliding rod (83) is connected with the second electromagnet (82) in an inserting mode.
7. The robot vision based positioning and clamping device as claimed in claim 1, wherein: and a camera (9) is fixed on the outer wall of the bottom of the supporting plate (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121197866.8U CN214924510U (en) | 2021-05-25 | 2021-05-25 | Positioning clamping device based on robot vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121197866.8U CN214924510U (en) | 2021-05-25 | 2021-05-25 | Positioning clamping device based on robot vision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214924510U true CN214924510U (en) | 2021-11-30 |
Family
ID=79057154
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121197866.8U Expired - Fee Related CN214924510U (en) | 2021-05-25 | 2021-05-25 | Positioning clamping device based on robot vision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214924510U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113970969A (en) * | 2021-12-27 | 2022-01-25 | 深圳市心流科技有限公司 | Bionic hand pressure alarm method, bionic hand, terminal and storage medium |
| CN114474130A (en) * | 2022-04-15 | 2022-05-13 | 深圳凯航伟业科技有限公司 | Clamping manipulator for plastic products |
| CN114516065A (en) * | 2022-03-17 | 2022-05-20 | 蒋济水 | Artificial intelligence clamping device for avoiding mechanical inertia damage to clamping article |
| CN115139041A (en) * | 2022-08-03 | 2022-10-04 | 中国建筑第二工程局有限公司 | Steel structure butt welding adjusting device of assembly type structure |
| CN117055428A (en) * | 2023-09-14 | 2023-11-14 | 泰盛电气(江苏)有限公司 | Intelligent automatic platform for industrial production |
-
2021
- 2021-05-25 CN CN202121197866.8U patent/CN214924510U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113970969A (en) * | 2021-12-27 | 2022-01-25 | 深圳市心流科技有限公司 | Bionic hand pressure alarm method, bionic hand, terminal and storage medium |
| CN113970969B (en) * | 2021-12-27 | 2022-04-26 | 深圳市心流科技有限公司 | Bionic hand pressure alarm method, bionic hand, terminal and storage medium |
| CN114516065A (en) * | 2022-03-17 | 2022-05-20 | 蒋济水 | Artificial intelligence clamping device for avoiding mechanical inertia damage to clamping article |
| CN114474130A (en) * | 2022-04-15 | 2022-05-13 | 深圳凯航伟业科技有限公司 | Clamping manipulator for plastic products |
| CN115139041A (en) * | 2022-08-03 | 2022-10-04 | 中国建筑第二工程局有限公司 | Steel structure butt welding adjusting device of assembly type structure |
| CN117055428A (en) * | 2023-09-14 | 2023-11-14 | 泰盛电气(江苏)有限公司 | Intelligent automatic platform for industrial production |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN214924510U (en) | Positioning clamping device based on robot vision | |
| CN208470289U (en) | A kind of carton unpacking machine suitable for different sizes | |
| CN110076818B (en) | Manipulator for grabbing irregular object | |
| CN108582024A (en) | A kind of clamp device of manipulator | |
| CN217457873U (en) | Automatic stacking device for blanking | |
| CN208811490U (en) | A kind of automatic lock screws apptss | |
| CN213859295U (en) | Be applied to special industrial robot of intelligent punch press | |
| CN110682018B (en) | Laser processing machine tool for semiconductor wafer | |
| CN210998680U (en) | Large-span pickup device | |
| CN111482726A (en) | Automatic flexible welding tablet system of robot | |
| CN111496574A (en) | Clamp convenient to adjust for machine tool machining | |
| CN201467622U (en) | Manual centering positioning system for chip | |
| CN111358587A (en) | Novel false tooth engraving machine and false tooth processing method | |
| CN108990288B (en) | Circuit board manufacturing process and device thereof | |
| CN213319876U (en) | Automatic buckle mounting equipment | |
| CN212434688U (en) | Lamination device and lithium ion battery production line | |
| CN210500321U (en) | Pick-up manipulator | |
| CN212952927U (en) | High-speed arrangement machine | |
| CN111293619B (en) | Automatic installation equipment for assembled power engineering power distribution cabinet and implementation method thereof | |
| CN114147698A (en) | Intelligent mechanical arm with anti-jamming function | |
| CN109716948A (en) | A kind of graft stock processing system | |
| CN219006056U (en) | Mechanical arm for grabbing plastic cutlery box | |
| CN219359199U (en) | Water jet cutting board support that commonality is high | |
| CN219698046U (en) | Automatic change tool for mounting | |
| CN220112840U (en) | Mechanical arm for intelligent automobile part production and processing |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20211130 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |